{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,5]],"date-time":"2026-05-05T22:10:32Z","timestamp":1778019032060,"version":"3.51.4"},"reference-count":58,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2025,5,20]],"date-time":"2025-05-20T00:00:00Z","timestamp":1747699200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nd\/4.0\/"}],"funder":[{"name":"Qatar Research Development and Innovation Council Academic Research Grant","award":["ARG01-0430-230047"],"award-info":[{"award-number":["ARG01-0430-230047"]}]},{"name":"National Priority Research Program","award":["NPRP13S-0116-200084"],"award-info":[{"award-number":["NPRP13S-0116-200084"]}]},{"DOI":"10.13039\/100008982","name":"Qatar National Research Fund","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100008982","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2025,6,30]]},"abstract":"<jats:p>Robotic scope assistant systems allow surgeons to adjust the operative field view during surgery by robotically maneuvering laparoscopes. A Human-Robot Interface (HRI) is used for issuing commands to these systems, with an interaction mode mapping these commands to laparoscope movements. Optimizing the HRI and interaction mode can streamline laparoscope positioning as well as reduce cognitive workload, helping the surgeon focus on the surgical procedure. Comparing and assessing various HRIs and interaction modes is essential for efficient laparoscope maneuvering. This study evaluates HRIs based on head-motion, eye-motion, hand-motion, and voice-input operating under three interaction modes (namely: discrete, continuous, and threshold). The participants performed a user study comparing different HRIs under two simulated surgical scenarios (one in a real environment and the other in a virtual environment). The results indicated that head and eye-based HRIs performed well in continuous interaction mode, while the voice-based interface suffered from a delay. Conversely, hand-based HRIs demonstrated superior performance in both scenarios across all evaluation parameters. The study provides a benchmark for the comparison of different HRIs and provides insights into the effectiveness, limitations, and potential advantages of different HRIs.<\/jats:p>","DOI":"10.1145\/3722121","type":"journal-article","created":{"date-parts":[[2025,3,10]],"date-time":"2025-03-10T16:20:56Z","timestamp":1741623656000},"page":"1-20","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["Evaluating Human-Robot Interfaces for Maneuvering Surgical Laparoscopes using Robotic Scope Assistant Systems"],"prefix":"10.1145","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-4548-6242","authenticated-orcid":false,"given":"Sofia","family":"Basha","sequence":"first","affiliation":[{"name":"Department of Surgery, Hamad Medical Corporation, Doha, Qatar"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2940-6103","authenticated-orcid":false,"given":"Malek","family":"Anbatawi","sequence":"additional","affiliation":[{"name":"Department of Surgery, Hamad Medical Corporation, Doha, Qatar"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1654-6676","authenticated-orcid":false,"given":"Nihal","family":"Abdurahiman","sequence":"additional","affiliation":[{"name":"Department of Surgery, Hamad Medical Corporation, Doha, Qatar"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1101-323X","authenticated-orcid":false,"given":"Jhasketan","family":"Padhan","sequence":"additional","affiliation":[{"name":"Department of Surgery, Hamad Medical Corporation, Doha, Qatar"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8490-4204","authenticated-orcid":false,"given":"Victor M.","family":"Baez","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Houston, Houston, Texas, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9179-5379","authenticated-orcid":false,"given":"Abdulla","family":"Al-Ansari","sequence":"additional","affiliation":[{"name":"Department of Surgery, Hamad Medical Corporation, Doha, Qatar"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3180-4090","authenticated-orcid":false,"given":"Panagiotis","family":"Tsiamyrtzis","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7614-6282","authenticated-orcid":false,"given":"Aaron T.","family":"Becker","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Houston, Houston, Texas, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1853-1910","authenticated-orcid":false,"given":"Nikhil V.","family":"Navkar","sequence":"additional","affiliation":[{"name":"Department of Surgery, Hamad Medical Corporation, Doha, Qatar"}]}],"member":"320","published-online":{"date-parts":[[2025,5,20]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1055\/s-0037-1608651"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-019-07016-1"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.12968\/HMED.2019.80.9.494"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0002-9610(99)00055-0"},{"key":"e_1_3_2_6_2","first-page":"4","article-title":"Eye gaze tracking for endoscopic camera positioning: An application of a hardware\/software interface developed to automate AESOP","volume":"132","author":"Ali S. M.","year":"2008","unstructured":"S. M. Ali, L. A. Reisner, B. King, A. Cao, G. Auner, M. Klein, and A. K. Pandya. 2008. Eye gaze tracking for endoscopic camera positioning: An application of a hardware\/software interface developed to automate AESOP. Studies in Health Technology and Informatics 132 (2008), 4\u20137.","journal-title":"Studies in Health Technology and Informatics"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/S00464-003-9200-Z"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1097\/00129689-200310000-00010"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1007\/S00464-001-9174-7"},{"key":"e_1_3_2_10_2","first-page":"161","article-title":"Experiences of using the endoassist-robot in surgery","volume":"125","author":"Hal\u00edn N.","year":"2007","unstructured":"N. Hal\u00edn, P. Loula, and P. Aarnio. 2007. Experiences of using the endoassist-robot in surgery. Studies in Health Technology and Informatics 125 (2007), 161\u2013163.","journal-title":"Studies in Health Technology and Informatics"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1002\/lary.25634"},{"issue":"3","key":"e_1_3_2_12_2","first-page":"184","article-title":"Operation and human clinical trials of robolens: An assistant robot for laparoscopic surgery","volume":"2","author":"Mirbagheri A.","year":"2015","unstructured":"A. Mirbagheri, F. Farahmand, B. Ghanadi, K. Amini Khoiy, S. Porsa, M. J. Shamsollahi, M. H. Owlia, F. Karimian, and K. Toulabi. 2015. Operation and human clinical trials of robolens: An assistant robot for laparoscopic surgery. Frontiers in Biomedical Technologies 2, 3 (2015), 184\u2013190.","journal-title":"Frontiers in Biomedical Technologies"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/s004640020066"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-023-09904-z"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISMR48347.2022.9807586"},{"key":"e_1_3_2_16_2","unstructured":"EMARO pneumatic endoscope manipulator robot. Riverfield Inc. Retrieved 31 December 2023 from https:\/\/riverfieldinc.com\/en\/products\/p01\/"},{"key":"e_1_3_2_17_2","unstructured":"Freehand. Freehand surgical. Retrieved 31 December 2023 from https:\/\/www.freehandsurgeon.com\/"},{"key":"e_1_3_2_18_2","unstructured":"Soloassist II. AKTORMED GMBH. Retrieved 31 December 2023 from https:\/\/aktormed.info\/en\/products\/soloassist-ii"},{"key":"e_1_3_2_19_2","unstructured":"HIWIN - MTG 100. Hiwin Technologies. Retrieved 31 December 2023 from https:\/\/www.hiwin.tw\/products\/me\/mtg_h100.aspx"},{"key":"e_1_3_2_20_2","unstructured":"Robolens: Laparoscopic surgery assistant robot (standalone model). Sina Robotics & Medical Innovators Co. Retrieved 31 December 2023 from https:\/\/sinamed.ir\/robotic-tele-surgery\/robolens-stand-alone-model\/"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.21037\/vats.2018.11.01"},{"key":"e_1_3_2_22_2","first-page":"187","article-title":"Using a laparoscope manipulator (Lapman) in laparoscopic gynecological surgery","volume":"17","author":"Polet R.","year":"2008","unstructured":"R. Polet and J. Donnez. 2008. Using a laparoscope manipulator (Lapman) in laparoscopic gynecological surgery. Surgical Technology International 17 (2008), 187\u2013191.","journal-title":"Surgical Technology International"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1007\/S11748-008-0240-0"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1055\/s-2006-939679"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.21037\/jtd-23-19"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-018-6506-4"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-5347(01)66715-6"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.3390\/robotics3030310"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-023-09981-0"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1002\/adsr.202200036"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob49111.2020.9224440"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1177\/1553350607310281"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.scient.2011.03.012"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1007\/s004649900871"},{"issue":"1","key":"e_1_3_2_35_2","first-page":"1","article-title":"Development and testing of a compact endoscope manipulator for minimally invasive surgery","volume":"10","author":"Berkelman P.","year":"2005","unstructured":"P. Berkelman, P. Cinquin, E. Boidard, J. Troccaz, C. L\u00e9toublon, and J.-A. Long. 2005. Development and testing of a compact endoscope manipulator for minimally invasive surgery. Computer Aided Surgery 10, 1 (2005), 1\u201313.","journal-title":"Computer Aided Surgery"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1093\/humrep\/13.10.2748"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-002-9185-z"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00240-017-1024-8"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.18528\/IJGII190022"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2010.5627043"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob52689.2022.9925526"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-021-08556-1"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2023.04.1261"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1177\/1553350609338181"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-023-10616-7"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRoM.2016.7886826"},{"key":"e_1_3_2_47_2","unstructured":"Steute Meditec - Foot Switch. Steute Technologies. Retrieved 31 December 2023 from https:\/\/www.steute-meditec.com\/en\/products\/mfs-microscope-sw24le-med.html"},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2926215"},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.4103\/0974-1208.82352"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-022-09164-3"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-017-5789-1"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1177\/1553350613505714"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-004-8901-2"},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA57826.2023.10216158"},{"key":"e_1_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-018-6476-6"},{"key":"e_1_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1186\/s43043-024-00168-8"},{"issue":"5","key":"e_1_3_2_57_2","first-page":"E2414","article-title":"Evaluation of user\u2010interfaces for controlling movements of virtual minimally invasive surgical instruments","volume":"18","author":"Shabir D.","year":"2022","unstructured":"D. Shabir, M. Anbatawi, J. Padhan, S. Balakrishnan, A. Al\u2010Ansari, J. Abinahed, P. Tsiamyrtzis, E. Yaacoub, A. Mohammed, Z. Deng, et al. 2022. Evaluation of user\u2010interfaces for controlling movements of virtual minimally invasive surgical instruments. The International Journal of Medical Robotics and Computer Assisted Surgery 18, 5 (2022), E2414.","journal-title":"The International Journal of Medical Robotics and Computer Assisted Surgery"},{"key":"e_1_3_2_58_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-023-10214-7"},{"issue":"2","key":"e_1_3_2_59_2","article-title":"Preliminary design and evaluation of a generic surgical scope adapter","volume":"19","author":"Khorasani M.","year":"2023","unstructured":"M. Khorasani, N. Abdurahiman, J. Padhan, H. Zhao, A. Al\u2010Ansari, A. T. Becker, and N. Navkar. 2023. Preliminary design and evaluation of a generic surgical scope adapter. The International Journal of Medical Robotics and Computer Assisted Surgery 19, 2 (2023), e2475. Retrieved fro https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rcs.2475","journal-title":"The International Journal of Medical Robotics and Computer Assisted Surgery"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3722121","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3722121","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T01:21:14Z","timestamp":1750296074000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3722121"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,20]]},"references-count":58,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2025,6,30]]}},"alternative-id":["10.1145\/3722121"],"URL":"https:\/\/doi.org\/10.1145\/3722121","relation":{},"ISSN":["2573-9522"],"issn-type":[{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,5,20]]},"assertion":[{"value":"2024-03-12","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-02-20","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-05-20","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}