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Micron: Intelligent Microsurgical Instruments
Head: Cameron Riviere
Contact: Cameron Riviere (cam.riviere@cs.cmu.edu)

Mailing address:
MRT Center
The Robotics Institute
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh PA 15213-3890
(412) 268 6553 (Jim Osborn, Executive Director)
(412) 268 6436 (FAX)

Associated center: MRTC
Associated lab/group: Medical Instrumentation Lab

For more information, see this project's homepage.

Jump to: Project Description | Personnel | Publications

Project Description

Positioning error is inherent in normal human hand motion. This includes components such as physiological tremor and jerk. For a surgeon performing microsurgery, involuntary hand motion limits the accuracy with which he or she operates. This problem is especially significant in the fields of ophthalmological and neurological surgery. To deal with this problem, we are developing an intelligent active hand-held instrument for ophthalmological microsurgery. This instrument senses its own motion, distinguishes between desired and undesired motion using advanced filtering techniques, and actively compensates for undesired motion by an equal but opposite deflection of its own tip. A full prototype, with six sensors and three actuators, has been completed and preliminary tests have demonstrated attenuation of tremor-like oscillations by as much as 50%.

Personnel [Past Members]

Recent publications [View all 33 publications]

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