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Carnegie Mellon Robotics Institute

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Abstract

Using an instrumented surgical tool, high-precision recordings of hand tremor were taken during vitreoretinal microsurgery. The data obtained using a compact, custom six-degree-of-freedom inertial sensing module were filtered and analyzed to characterize the physiological hand tremor of the surgeon. Tremor during the most delicate part of the procedure was measured at a vector magnitude of 38 um rms. Non-tremulous, lower-frequency components of instrument movement were also characterized. The data collected provide an important baseline for design specification and performance evaluation of engineered microsurgical devices.

Keywords

tremor, accuracy, microsurgery, human performance measurement

Notes

Sponsor: NSF

Grant ID: EEC-9731748

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

S.P.N. Singh and Cameron Riviere, "Physiological tremor amplitude during vitreoretinal microsurgery," Proceedings of the IEEE 28th Annual Northeast Bioengineering Conference, April, 2002, pp. 171-172.

BibTeX Reference

@inproceedings{Riviere_2002_4088,
   author = "S.P.N. Singh and Cameron Riviere",
   editor = "Karen Moxon, Dalia El-Sharif, Saravanan Kanakasabai",
   title = "Physiological tremor amplitude during vitreoretinal microsurgery",
   booktitle = "Proceedings of the IEEE 28th Annual Northeast Bioengineering Conference",
   pages = "171-172",
   publisher = "IEEE",
   address = "445 Hoes Lane, Piscataway, NJ 08855-1331",
   month = "April",
   year = "2002",
}

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