Improvement in modelling of physiological tremor by inclusion of grip force in quaternion weighted Fourier linear combiner
Improvement in modelling of physiological tremor by inclusion of grip force in quaternion weighted Fourier linear combiner
复制标题
DOI：
10.1049/cp.2015.1782
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
K. Adhikari;S. Tatinati;K. Veluvolu;K. Nazarpour
中科院分区：
文献类型：
--
作者：
K. Adhikari;S. Tatinati;K. Veluvolu;K. Nazarpour
生理性震颤是身体部位的不自主振荡运动，尤其是手部。由于震颤引起的意外振动导致显微手术工具的尖端不必要地波动，从而导致显微手术中不可接受的不精确。现有的加权傅立叶线性组合算法（加权傅立叶线性组合算法）及其扩展都将震颤的x、y和z三个轴视为三个独立的通道。然而，我们的相关和相干分析表明，震颤通道之间存在显著的耦合。更重要的是，外科医生握住手术器械的握力也显示出与三个震颤通道的显著耦合，这在以前从未被研究过。我们首先使用四元数代数在三维（3- d）中模拟震颤，并发现我们在之前的工作中提出的27%的改进。在本文中，我们展示了通过结合握力和三个震颤通道来模拟4维震颤，进一步利用了力和xyz震颤通道之间固有的跨通道耦合信息。利用四元数代数对这些耦合信息进行提取，提高了地震模型的建模性能。我们表明，使用4-D模型而不是3-D模型，震颤的估计性能提高了45%，从1-D到4-D的总体提高了65%。
Physiological tremor is an involuntary oscillatory movement of body parts particularly exhibited in hands. The unintended vibrations due to tremor causes tip of the microsurgical tools to fluctuate unnecessarily causing unacceptable imprecisions in micro-surgeries. All the existing algorithms such as weighted Fourier Linear Combiner (wFLC), and its extensions, treat three x, y and z axes of tremor as three independent channels. However our correlation and coherence analysis showed that there is significant coupling between tremor channels. More importantly grip force by which a surgeon holds a surgical device also shows significant coupling with three tremor channels, which has never been investigated before. We first modelled the tremor in 3 dimensions (3-D) using quaternion algebra, and found 27% improvement which we have presented in our previous work. In this paper, we show modelling tremor in 4 dimensions by incorporating grip force and three tremor channels further exploits the cross-channel coupling information which is naturally inherent between force and xyz tremor channels. Using quaternion algebra we extract this coupling information to improve the tremor modelling performance. We show that estimation performance of tremor improves by 45% using 4-D model instead 3-D, yielding overall improvement of 65% from 1-D to 4-D.