Micron: an Actively Stabilized Handheld Tool for Microsurgery.
Micron: an Actively Stabilized Handheld Tool for Microsurgery.
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DOI：
10.1109/tro.2011.2169634
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发表时间：
2012-02-01
期刊：
影响因子：
--
通讯作者：
Riviere CN
中科院分区：
文献类型：
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作者：
Maclachlan RA;Becker BC;Tabarés JC;Podnar GW;Lobes LA Jr;Riviere CN
我们描述了一种手持式主动稳定工具的设计和性能，以提高显微手术或其他精密操作的准确性。其通过致动尖端以抵消不期望的手柄运动的影响来消除非自主运动，例如震颤。关键部件是一个三自由度的压电机械手，具有400 μm的运动范围，1 N的力的能力，和带宽超过100 Hz，和一个光学位置测量子系统，获得4 μm的分辨率在2000样本/s的工具位姿。使用这些组件的控制系统使手部运动衰减至少15 dB（减少五倍）。通过考虑Micron的频率响应对人类视觉反馈回路的影响，我们开发了一种滤波器，可以减少无意的运动，同时保留直观的眼手协调。我们通过测量三个简单操作任务中人/机系统的准确性来评估Micron的有效性。由三名眼科医生和三名非外科医生进行的手持测试显示，根据误差度量，位置误差减少了32%至52%。
We describe the design and performance of a hand-held actively stabilized tool to increase accuracy in micro-surgery or other precision manipulation. It removes involuntary motion such as tremor by actuating the tip to counteract the effect of the undesired handle motion. The key components are a three-degree-of-freedom piezoelectric manipulator that has 400 μm range of motion, 1 N force capability, and bandwidth over 100 Hz, and an optical position measurement subsystem that acquires the tool pose with 4 μm resolution at 2000 samples/s. A control system using these components attenuates hand motion by at least 15 dB (a fivefold reduction). By considering the effect of the frequency response of Micron on the human visual feedback loop, we have developed a filter that reduces unintentional motion, yet preserves intuitive eye-hand coordination. We evaluated the effectiveness of Micron by measuring the accuracy of the human/machine system in three simple manipulation tasks. Handheld testing by three eye surgeons and three non-surgeons showed a reduction in position error of between 32% and 52%, depending on the error metric.