The Robotics Institute

Carnegie Mellon Robotics Institute

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

A neural network technique is employed to cancel hand motion error during microsurgery. A cascade-correlation neural network trained via extended Kalman filtering was tested on 15 recordings of hand movement collected from 4 surgeons. The neural network was trained to output the surgeon's desired motion, suppressing erroneous components. In experiments this technique reduced the root mean square error (rmse) of the erroneous motion by an average of 39.5%. This was 9.6% greater than the reduction achieved in earlier work, which followed the complementary approach of estimating the error rather than the desired component. Preliminary results are also presented from tests in which training and testing data were taken from different surgeons.

Keywords

microsurgery, accuracy, tremor, robotics

Notes

Sponsor: The Pittsburgh Foundation

Grant ID: R. Green Annan Medical Fund and Lettie B. Trognitz Fund

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

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

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Note: also funded by NIH (grant no. R21 RR13383) and NSF (grant no. EEC-9731748)

Text Reference

Wei-Tech Ang and Cameron Riviere, "Neural network methods for error canceling in human-machine manipulation," Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3462-3465.

BibTeX Reference

@inproceedings{Ang_2001_4092,
   author = "Wei-Tech Ang and Cameron Riviere",
   title = "Neural network methods for error canceling in human-machine manipulation",
   booktitle = "Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society",
   pages = "3462-3465",
   month = "October",
   year = "2001",
   Notes = "also funded by NIH (grant no. R21 RR13383) and NSF (grant no. EEC-9731748)"
}

The Robotics Institute

Menu