Toward active tremor canceling in handheld microsurgical instruments
Toward active tremor canceling in handheld microsurgical instruments
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DOI：
10.1109/tra.2003.817506
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发表时间：
2003-10-01
期刊：
影响因子：
--
通讯作者：
Khosla, PK
中科院分区：
文献类型：
--
作者：
Riviere, CN;Ang, WT;Khosla, PK
本文介绍了用于提高显微外科手术精度的有源仪器的研究。其目的是使精确度的提高对外科医生尽可能透明。我们没有使用机械臂，而是采取了一种新颖的方法，开发了一种手持仪器，它可以感知自己的运动，区分想要的和不想要的运动，并使其尖端偏转，以执行对不想要的部件的主动补偿。因此，这项研究需要在仪器运动的量化和建模、颤动和其他错误运动的过滤算法以及开发用于执行主动误差补偿的手持机电系统方面进行工作。本文介绍了本研究开发的系统，并给出了初步结果。
This paper describes research in active instruments for enhanced accuracy in microsurgery. The aim is to make accuracy enhancement as transparent to the surgeon as possible. Rather than using a robotic arm, we have taken the novel approach of developing a handheld instrument that senses its own movement, distinguishes between desired and undesired motion, and deflects its tip to perform active compensation of the undesired component. The research has therefore required work in quantification and modeling of instrument motion, filtering algorithms for tremor and other erroneous movements, and development of handheld electromechanical systems to perform active error compensation. The paper introduces the systems developed in this research and presents preliminary results.