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Carnegie Mellon Robotics Institute

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Abstract

This paper presents the development and initial experimental results of the first prototype of Micron, an active hand-held instrument to sense and compensate physiological tremor and other unwanted movement during vitreoretinal microsurgery. The instrument incorporates six inertial sensors, allowing the motion of the tip to be computed. The motion captured is processed to discriminate between desired and undesired components of motion. Tremor canceling is implemented via the weighted-frequency Fourier linear combiner (WFLC) algorithm, and compensation of non-tremorous error via a neural-network technique is being investigated. The instrument tip is attached to a three-degree-of-freedom parallel manipulator with piezoelectric actuation. The actuators move the tool tip in opposition to the tremor, thereby suppressing the erroneous motion. Motion canceling experiments with oscillatory motions in the frequency band of physiological tremor show that Micron is able to reduce error amplitude by 45.3% in 1-D tests and 37.2% in 3-D tests.

Keywords

microsurgery, accuracy, tremor, robotics

Notes

Sponsor: National Institutes of Health

Grant ID: R21 RR13383

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

Wei-Tech Ang, Cameron Riviere, and Pradeep Khosla, "Design and implementation of active error canceling in hand-held microsurgical instrument," Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, October, 2001, pp. 1106-1111.

BibTeX Reference

@inproceedings{Ang_2001_4094,
   author = "Wei-Tech Ang and Cameron Riviere and Pradeep Khosla",
   title = "Design and implementation of active error canceling in hand-held microsurgical instrument",
   booktitle = "Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems",
   pages = "1106-1111",
   month = "October",
   year = "2001",
   volume = "2",
}

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