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Carnegie Mellon Robotics Institute

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Abstract

There is a need for instrument motion sensing with sufficient accuracy for microsurgery. An instrument featuring six-degree-of-freedom (6-dof) inertial sensing of intraoperative motion has been developed. With rms noise of 7.8 mm/s/sup 2/ and 1.1 mdeg/s and bandwidth over 20 Hz, it is capable of capturing both gross motion and microscopic movements, e.g., hand tremor. Preliminary results are presented.

Notes

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

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

Text Reference

Mario Gomez-Blanco, Cameron Riviere, and Pradeep Khosla, "Intraoperative instrument motion sensing for microsurgery," Proceedings of the 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society, October, 1999, pp. 864.

BibTeX Reference

@inproceedings{Gomez-Blanco_1999_3250,
   author = "Mario Gomez-Blanco and Cameron Riviere and Pradeep Khosla",
   title = "Intraoperative instrument motion sensing for microsurgery",
   booktitle = "Proceedings of the 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "864",
   month = "October",
   year = "1999",
   volume = "2",
}

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