Purpose: Metrics derived from eye-gaze-tracking and pupillometry show promise for cognitive load assessment, potentially enhancing training and patient safety through user-specific feedback in tele-robotic surgery. However, current eye-tracking solutions' effectiveness in tele-robotic surgery is uncertain compared to everyday situations due to close-range interactions causing extreme pupil angles and occlusions. To assess the effectiveness of modern eye-gaze-tracking solutions in tele-robotic surgery, we compare the Tobii Pro 3 Glasses and Pupil Labs Core, evaluating their pupil diameter and gaze stability when integrated with the da Vinci Research Kit (dVRK). Methods: The study protocol includes a nine-point gaze calibration followed by pick-and-place task using the dVRK and is repeated three times. After a final calibration, users view a 3x3 grid of AprilTags, focusing on each marker for 10 seconds, to evaluate gaze stability across dVRK-screen positions with the L2-norm. Different gaze calibrations assess calibration's temporal deterioration due to head movements. Pupil diameter stability is evaluated using the FFT from the pupil diameter during the pick-and-place tasks. Users perform this routine with both head-worn eye-tracking systems. Results: Data collected from ten users indicate comparable pupil diameter stability. FFTs of pupil diameters show similar amplitudes in high-frequency components. Tobii Glasses show more temporal gaze stability compared to Pupil Labs, though both eye trackers yield a similar 4cm error in gaze estimation without an outdated calibration. Conclusion: Both eye trackers demonstrate similar stability of the pupil diameter and gaze, when the calibration is not outdated, indicating comparable eye-tracking and pupillometry performance in tele-robotic surgery settings.

翻译：目的：基于眼动追踪和瞳孔测量法的指标在认知负荷评估中展现出潜力，通过为遥操作手术提供用户个性化反馈，有望提升训练效果和患者安全性。然而，与日常场景相比，当前眼动追踪解决方案在遥操作手术中的有效性尚不确定，因为近距离交互会导致极端瞳孔角度和遮挡问题。为评估现代眼动追踪方案在遥操作手术中的有效性，我们比较了Tobii Pro 3 Glasses与Pupil Labs Core两种设备，评估它们在与达芬奇研究套件（dVRK）集成时的瞳孔直径和注视稳定性。方法：研究方案包括九点注视校准，随后使用dVRK执行取放任务，该过程重复三次。最后校准后，用户观察由3x3网格AprilTags构成的标记阵列，聚焦每个标记10秒，通过L2范数评估dVRK屏幕不同位置的注视稳定性。通过不同注视校准评估头部运动引起的校准时间退化效应。在取放任务中，利用瞳孔直径的快速傅里叶变换（FFT）评估瞳孔直径稳定性。所有用户均依次佩戴两种头戴式眼动追踪系统完成该流程。结果：十名用户的数据显示两种设备在瞳孔直径稳定性方面具有可比性。瞳孔直径的FFT在高频分量上呈现相似振幅。Tobii Glasses相比Pupil Labs表现出更好的时间域注视稳定性，但两种眼动仪在校准未过时的情况下，注视估计误差均约为4厘米。结论：当校准未过时时，两种眼动追踪仪的瞳孔直径和注视稳定性相似，表明在遥操作手术环境中，二者在眼动追踪和瞳孔测量性能方面具有可比性。