Active tremor compensation in microsurgery

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


Download
  • Adobe portable document format (pdf) (322KB)
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 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",
}