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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 in a rabbit model in vivo. 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 30 μm 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 microsurgical devices, using a more comprehensive data set than has been evaluated previously.

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: 2

Text Reference

David Ortega Ibanez, Fernando Perez Baquerin, David Choi, and Cameron Riviere, "Performance Envelope and Physiological Tremor in Microsurgery," Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference, April, 2006, pp. 121 - 122.

BibTeX Reference

@inproceedings{Ortega_Ibanez_2006_5498,
   author = "David {Ortega Ibanez} and Fernando {Perez Baquerin} and David Choi and Cameron Riviere",
   title = "Performance Envelope and Physiological Tremor in Microsurgery",
   booktitle = "Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference",
   pages = "121 - 122",
   month = "April",
   year = "2006",
}

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