Real time estimation and suppression of hand tremor for surgical robotic applications
| Autor: | Ajeet Kaushik, Sanjeev Kumar, Amod Kumar, J. S. Saini, Akhlesh Kumar |
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| Rok vydání: | 2020 |
| Předmět: |
010302 applied physics
Adaptive algorithm Computer science business.industry Work (physics) ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology 021001 nanoscience & nanotechnology Condensed Matter Physics 01 natural sciences Signal Motion (physics) Electronic Optical and Magnetic Materials Hardware and Architecture Time estimation Hand tremor 0103 physical sciences Robotic surgery Computer vision Artificial intelligence Electrical and Electronic Engineering 0210 nano-technology business ComputingMethodologies_COMPUTERGRAPHICS Graphical user interface |
| Zdroj: | Microsystem Technologies. 28:305-311 |
| ISSN: | 1432-1858 0946-7076 |
| DOI: | 10.1007/s00542-019-04736-1 |
| Popis: | In this work, an algorithm was developed to record and suppress the physiological tremor present in the hands of surgeon doing robotic surgical procedure due to fatigue or otherwise. A prototype setup of master handle having six degree of freedom with a vibration motor was designed and fabricated to record the hand tremor. The work involved recording the composite simulated motion consisting of both voluntary motion of surgeon’s hand and associated involuntary motion of tremor in real time, determination of peak frequencies of both the motions and providing necessary information on the graphical user interface. The adaptive algorithm is capable to cancel out the involuntary motion from the recorded raw signal in real time. After filtration, only voluntary motion remains for further processing. The developed algorithm promises potential to make robotic surgery more precise and error free. |
| Databáze: | OpenAIRE |
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