title: Active tremor compensation in microsurgery.
abstract: This work presents the development of an intelligent microsurgical instrument to perform real-time tremor compensation within a handheld tool. The intelligent instrument senses its own motion, distinguishes between voluntary and erroneous motion, and manipulates its tip to cancel the undesired component in real-time. The on-board sensing unit is made up of a magnetometer-aided all-accelerometer inertial measurement unit and sensor fusion is performed via a quaternion-based Kalman filtering. Tremor is modeled and filtered by an adaptive zero-phase notch filter. The intraocular shaft manipulator is a three DOF piezoelectric actuated mechanism driven by a feedforward controller with inverse rate-dependent hysteresis model. Laboratory experimental results of the system are presented.
authors.affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA.
authors.forename: W T
authors.initials: WT
authors.lastname: Ang
authors.forename: P K
authors.initials: PK
authors.lastname: Pradeep
authors.forename: C N
authors.initials: CN
authors.lastname: Riviere