Carnegie Mellon University
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Micron: Intelligent Microsurgical Instruments
Head: Cameron Riviere
Contact: Cameron Riviere
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Medical Robotics Technology Center (MRTC)
Associated lab(s) / group(s):
 Surgical Mechatronics Laboratory
Project Homepage
This page last updated - September 2011.
Positioning error is inherent in normal human hand motion. This includes components such as physiological tremor and jerk. For a surgeon performing microsurgery, involuntary hand motion limits the accuracy with which he or she operates. This problem is especially significant in the fields of ophthalmological and neurological surgery. To deal with this problem, we are developing an intelligent active hand-held instrument for ophthalmological microsurgery. This instrument senses its own motion, distinguishes between desired and undesired motion using advanced filtering techniques, and actively compensates for undesired motion by an equal but opposite deflection of its own tip. A full prototype, with six sensors and three actuators, has been completed and preliminary tests have demonstrated attenuation of tremor-like oscillations by as much as 50%.