An Active Hand-held Instrument for Enhanced Microsurgical Accuracy

Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla
Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, October, 2000, pp. 878-886.


Download
  • Adobe portable document format (pdf) (260KB)
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
This paper presents the first prototype of an active hand-held instrument to sense and compensate physiological tremor and other unwanted movement during vitreoretinal microsurgery. The instrument incorporates six inertial sensors (three accelerometers and three rate gyros) to detect motion of the handle. The movement of the instrument tip in three dimensions is then obtained using appropriate kinematic calculations. The motion captured is processed to discriminate between desired and undesired components of motion. Tremor canceling will be implemented via the weighted-frequency Fourier linear combiner (WFLC) algorithm, and compensation of non-tremorous erroneous motion via an experimental neural-network technique. The instrument tip is attached to a three-degree-of-freedom parallel manipulator, actuated by three piezoelectric stacks. The actuators move the tool tip in opposition to the motion of the tremor or other erroneous motion, thereby suppressing the error. Experimental results show that the prototype is able to follow one-dimensional and three-dimensional trajectories with rms error of 2.5 microns and 11.2 microns respectively.

Keywords
tremor, microsurgery, accuracy, medical robotics

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 and ASAP
Number of pages: 9

Text Reference
Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla, "An Active Hand-held Instrument for Enhanced Microsurgical Accuracy," Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention, October, 2000, pp. 878-886.

BibTeX Reference
@inproceedings{Ang_2000_3511,
   author = "Wei-Tech Ang and Cameron Riviere and Pradeep Khosla",
   editor = "Scott L. Delp, Anthony M. DiGioia, Branislav Jaramaz",
   title = "An Active Hand-held Instrument for Enhanced Microsurgical Accuracy",
   booktitle = "Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention",
   pages = "878-886",
   publisher = "Springer",
   month = "October",
   year = "2000",
}