Sensing Hand Tremor in a Vitreoretinal Microsurgical Instrument

Mario Gomez-Blanco, Cameron Riviere, and Pradeep Khosla
tech. report CMU-RI-TR-99-39, Robotics Institute, Carnegie Mellon University, December, 1999


Download
  • Adobe portable document format (pdf) (173KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}