title: Acousto-optic compensation of tremor for use in a handheld laser microsurgical instrument.
abstract: Development of a handheld microsurgical manipulator that incorporates active cancellation of the hand tremor of the user is ongoing. Thus far, experiments with the instrument have involved mechanical tools or end-effectors. In considering the possibility of laser procedures with the instrument, it is conceivable that a laser version of the instrument could be developed with no moving parts, using acousto-optic deflection of the laser beam to compensate the tremor. The paper describes the application and presents a proof of concept in a single degree of freedom using a benchtop laser deflection system and recorded hand motion data. Operating with a hand motion input tremor amplitude of 4 microns rms, the average overall canceling error is 0.8 microns rms.
authors.affiliation: Nat. Inst. for Laser, Plasma & Radiat. Phys., Bucharest.
authors.forename: R
authors.initials: R
authors.lastname: Cernat
authors.forename: C E
authors.initials: CE
authors.lastname: Matei
authors.forename: L
authors.initials: L
authors.lastname: Olteanu
authors.forename: C N
authors.initials: CN
authors.lastname: Riviere
authors.forename: D C
authors.initials: DC
authors.lastname: Dumitraş
mesh_terms: D000465:Algorithms; D000818:Animals; D006801:Humans; D008866:Microsurgery / Q000295:instrumentation* / Q000379:methods*; D023421:Models, Animal; D011817:Rabbits; D012160:Retina / Q000601:surgery; D014202:Tremor / Q000503:physiopathology*; D014822:Vitreous Body / Q000601:surgery