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Carnegie Mellon Robotics Institute

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Abstract

Microsurgery with handheld instruments requires accurate positioning. The attainable degree of accuracy depends on the amplitude of the components of error, from whatever source, in hand motion. Here, the authors quantify attainable accuracy in positioning of handheld instruments over a 1 min time span. No prefiltering of measured data is used. The average error standard deviation norm is found to be 0.34 mm with the forearm supported, and 0.19 mm with the hand supported. In both cases, a substantial amount of error is detected at frequencies lower than the range typically attributed to physiological tremor.

Notes

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Text Reference

Cameron Riviere and Pradeep Khosla, "Accuracy in positioning of handheld instruments," 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Bridging Disciplines for Biomedicine, October, 1996, pp. 212 - 213.

BibTeX Reference

@inproceedings{Riviere_1996_1706,
   author = "Cameron Riviere and Pradeep Khosla",
   title = "Accuracy in positioning of handheld instruments",
   booktitle = "18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Bridging Disciplines for Biomedicine",
   pages = "212 - 213",
   month = "October",
   year = "1996",
   volume = "1",
}

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