Abstract
The human hand has many limitations in microsurgery, but these limitations are minimized in the robot. Every vibration causes changes in the surgical process. By using different methods, the errors caused by the sensor and the surgeon's hand can be minimized in surgery. This paper aims to reduce the errors caused by the leap motion sensor, such as noise, disturbance, and surgeon's hand errors, such as hand tremors. First, hand tremors (physiological or due to fatigue) were detected using the leap motion sensor; Then, with different methods, including fast Fourier transform and its inverse, wavelet transform, and Empirical mode decomposition (EMD), the vibration was removed. According to the obtained results, the maximum calculated error beforehand tremor compensation is 0.19, 0.16, 0.07, 0.14, 0.2, respectively, for moving on the right line; Also, the maximum vibration compensation error for these people is equal to 0.15, 0.07, 0.06, 0.1, 0.16 respectively.
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