The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

An instrument for intraoperative sensing of surgeons?hand tremor during vitreoretinal microsurgery has been developed. Real-time monitoring of tremor is useful to surgeons for purposes of training, adjustment of technique, monitoring of fatigue, and deciding when or whether to perform certain procedures. The instrument incorporates six inertial sensors (three accelerometers and three rate gyros), mounted at the back end of the handle, to detect translation and rotation in six degrees of freedom. The accelerometer data are integrated to obtain translational velocity, and the gyro data are integrated to determine the time-varying rotation matrix needed to transform the instrument motion to a fixed frame of reference. Instrument tip velocity in three dimensions is computed using this information. The displacement amplitude of the tremor is then approximated analytically from the velocity data, approximating it as a sinusoid. Four preliminary tests are presented: 1-dof translation (no rotation); 1-dof translation with amplitude modulation; 3-dof translation (no rotation); 6-dof motion (translation and rotation). The instrument presently estimates oscillations at physiological tremor frequencies with less than 7% error.

Keywords

inertial sensing, microsurgery, computer assisted surgery, tremor

Notes

Sponsor: Johnson & Johnson Focused Giving Program

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

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

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Text Reference

Mario Gomez-Blanco, Cameron Riviere, and Pradeep Khosla, "Sensing Hand Tremor in a Vitreoretinal Microsurgical Instrument," tech. report CMU-RI-TR-99-39, Robotics Institute, Carnegie Mellon University, December, 1999

BibTeX Reference

@techreport{Gomez-Blanco_1999_3242,
   author = "Mario Gomez-Blanco and Cameron Riviere and Pradeep Khosla",
   title = "Sensing Hand Tremor in a Vitreoretinal Microsurgical Instrument",
   booktitle = "",
   institution = "Robotics Institute",
   month = "December",
   year = "1999",
   number= "CMU-RI-TR-99-39",
   address= "Pittsburgh, PA",
}

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