Document Detail


Adaptive canceling of physiological tremor for improved precision in microsurgery.
MedLine Citation:
PMID:  9644892     Owner:  NLM     Status:  MEDLINE    
Abstract/OtherAbstract:
Physiological hand tremor impedes microsurgery. We present both a novel 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.
Authors:
C N Riviere; R S Rader; N V Thakor
Publication Detail:
Type:  Journal Article; Research Support, U.S. Gov't, P.H.S.    
Journal Detail:
Title:  IEEE transactions on bio-medical engineering     Volume:  45     ISSN:  0018-9294     ISO Abbreviation:  IEEE Trans Biomed Eng     Publication Date:  1998 Jul 
Date Detail:
Created Date:  1998-07-10     Completed Date:  1998-07-10     Revised Date:  2009-11-11    
Medline Journal Info:
Nlm Unique ID:  0012737     Medline TA:  IEEE Trans Biomed Eng     Country:  UNITED STATES    
Other Details:
Languages:  eng     Pagination:  839-46     Citation Subset:  IM    
Affiliation:
Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218-2686, USA.
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MeSH Terms
Descriptor/Qualifier:
Algorithms*
Equipment Design
Fourier Analysis
Humans
Microsurgery / instrumentation*
Models, Biological
Tremor / prevention & control*
Vitreous Body / surgery
Grant Support
ID/Acronym/Agency:
H133G30064//PHS HHS

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine


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