Adaptive canceling of physiological tremor for improved precision in microsurgery
Adaptive canceling of physiological tremor for improved precision in microsurgery
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DOI：
10.1109/10.686791
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发表时间：
1998-07-01
影响因子：
4.6
通讯作者：
Thakor, NV
中科院分区：
文献类型：
--
作者：
Riviere, CN;Rader, RS;Thakor, NV
生理性手震颤妨碍显微外科手术。我们提出了一个肚脐自适应震颤估计算法和一个新的技术，主动实时消除生理震颤。使用加权频率傅立叶线性组合器（WFLC）对震颤进行在线建模。该自适应算法将震颤建模为调制正弦曲线，并跟踪其频率、幅度和相位。压电致动器移动手术器械尖端的运动的震颤，有效地减去震颤的总运动，我们证明了在一个维度上使用悬臂装置作为台式模拟的手术器械的技术。在模拟手术期间预先记录的实际手部运动用作输入。在25次测试中，WFLC震颤补偿将6-16 Hz震颤频带中的rms尖端运动降低了67%，并将相对于自主运动的后验估计的rms误差降低了30%。该技术可以在手持式显微外科器械中实施。
Physiological hand tremor impedes microsurgery. We present both a navel adaptive algorithm for tremor estimation and a new technique for active real-time canceling of physiological tremor. Tremor is modeled online using the weighted-frequency Fourier linear combiner (WFLC). This adaptive algorithm models tremor as a modulating sinusoid, and tracks its frequency, amplitude, and phase. Piezoelectric actuators move the surgical instrument tip in opposition to the motion of tremor, effectively subtracting the tremor from the total motion, We demonstrate the technique in one dimension using a cantilever apparatus as a benchtop simulation of the surgical instrument. Actual hand motion, prerecorded during simulated surgery, is used as input. In 25 tests, WFLC tremor compensation reduces the rms tip motion in the 6-16 Hz tremor band by 67%, and reduces the rms error with respect to an a posteriori estimate of voluntary motion by 30%, The technique can be implemented in a hand-held microsurgical instrument.