Abstract
The intelligent handheld instrument, ITrem2, enhances manual positioning accuracy by cancelling erroneous hand movements and, at the same time, provides automatic micromanipulation functions. Visual data is acquired from a high speed monovision camera attached to the optical surgical microscope and acceleration measurements are acquired from the inertial measurement unit (IMU) on board ITrem2. Tremor estimation and canceling is implemented via Band-limited Multiple Fourier Linear Combiner (BMFLC) filter. The piezoelectric actuated micromanipulator in ITrem2 generates the 3D motion to compensate erroneous hand motion. Preliminary bench-top 2-DOF experiments have been conducted. The error motions simulated by a motion stage is reduced by 67% for multiple frequency oscillatory motions and 56.16% for pre-conditioned recorded physiological tremor.
Highlights
Normal human hand movement contains involuntary components including physiological tremor [1], jerk [2] and low frequency drift [3]
We propose an improved handheld instrument, ITrem2, which incorporates real-time vision system and the inertial measurement unit
This paper focuses on incorporating computer vision and inertial sensing to perform automatic micromanipulation tasks and at the same time suppressing erroneous hand motion
Summary
Normal human hand movement contains involuntary components including physiological tremor [1], jerk [2] and low frequency drift [3]. Many delicate surgical procedures are considered infeasible because of these inherent limitations [4]. Among these involuntary motions, physiological tremor has the most significant effect, because jerk only happens rarely and drift can be partly corrected by human vision feedback [5]. The dominant frequencies of physiological tremor lie between 8 Hz to 12 Hz band [6] with peak-to-peak amplitudes as large as 50 μm [7] These problems can be overcome by replacing human hands with robotic systems, such as the commercially available telerobotic surgical system “da Vinci” from Intuitive Surgical, Inc. This approach, though effective, is costly and obtrusive from the point of view of a surgeon [10]
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