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Carnegie Mellon Robotics Institute

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Abstract

This paper demonstrates tremor compensation for human subjects using an active handheld micromanipulator. This instrument uses optical and inertial sensing to detect its own motion, estimates tremor using linear filtering, and a flexure-based manipulator to actuate the tip. Compensation results while tracing a line with the tool are presented for both novice users and a trained surgeon. Learning effects from repetition of the trials over a ten-day period are described.

Keywords

microsurgery, tremor, medical robotics

Notes

Sponsor: NIH

Grant ID: R01EB000526 and R21EY016359

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: 6

Text Reference

David Choi, Roberto Sandoval Garcia, Robert MacLachlan, Lawrence Ho, Louis Lobes, and Cameron Riviere, "Test of Tracing Performance with an Active Handheld Micromanipulator," Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 3638-3641.

BibTeX Reference

@inproceedings{Choi_2007_5986,
   author = "David Choi and Roberto {Sandoval Garcia} and Robert MacLachlan and Lawrence Ho and Louis Lobes and Cameron Riviere",
   title = "Test of Tracing Performance with an Active Handheld Micromanipulator",
   booktitle = "Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "3638-3641",
   month = "August",
   year = "2007",
}

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