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Abstract

This work presents the development of an intelligent microsurgical instrument to perform real-time tremor compensation within a handheld tool. The intelligent instrument senses its own motion, distinguishes between voluntary and erroneous motion, and manipulates its tip to cancel the undesired component in real-time. The on-board sensing unit is made up of a magnetometer-aided all-accelerometer inertial measurement unit and sensor fusion is performed via a quaternion-based Kalman filtering. Tremor is modeled and filtered by an adaptive zero-phase notch filter. The intraocular shaft manipulator is a three DOF piezoelectric actuated mechanism driven by a feedforward controller with inverse rate-dependent hysteresis model. Laboratory experimental results of the system are presented.

Notes

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

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

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Number of pages: 4

Text Reference

Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere, "Active tremor compensation in microsurgery," Proceedings of 26th Annual International Conference of the Engineering in Medicine and Biology Society, 2004, pp. 2738 - 2741.

BibTeX Reference

@inproceedings{Ang_2004_5428,
   author = "Wei-Tech Ang and Pradeep Khosla and Cameron Riviere",
   title = "Active tremor compensation in microsurgery",
   booktitle = "Proceedings of 26th Annual International Conference of the Engineering in Medicine and Biology Society",
   pages = "2738 - 2741",
   year = "2004",
   volume = "4",
}

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