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How to control robotic endoscopes for surgery? A mixed-initiative based on human and system control combines the strengths of each modality: reducing cognitive load when performing surgical tasks in a defined space by having the system automatically track the tool tips; and enabling the exploration and visualization of areas outside the tool tip vicinity through by giving manual control to surgeons. When this manual control can be performed through multiple modalities (e.g., direct through hand and indirect through a joystick) it lets surgeons chose the one that has the lowest interference to the current surgical task.

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This page is a summary of: Multimodal and Mixed Control of Robotic Endoscopes, April 2020, ACM (Association for Computing Machinery), DOI: 10.1145/3313831.3376795.
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