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This paper presents research, design, and development of a compact version of a hand-held active physiological tremor compensation instrument called ldquoITremrdquo. The instrument comprises three main portions: sensing, filtering, and manipulation. Accelerometers are employed to sense three degrees-of-freedom motion of the instrument tool tip. Minimal-phase filtering is performed to extract tremulous...
The use of linear filters to extract desired signals from sensed signals which contain a mixture of the desired and undesired signals inherently alters amplitude and phase characteristics of the desired signals. Attenuation and phase-shift incurred in the extracted desired signals is undesirable in applications such as real-time physiological tremor compensation. Algorithms based on Fourier linear...
Inertial measurement units (IMU) consist of accelerometers. Estimation accuracy of acceleration in a particular direction depends on how accurately accelerometers are placed at desired or ideal orientations. The estimation inaccuracy which results from inaccurate orientation of an accelerometer can be eliminated if the orientation error or the angle between the actual and the ideal orientations is...
Physiological tremor is one of the main cause for human imprecision during micro surgery. Accurate filtering of physiological tremor is extremely important for compensation in robotics assisted micro-surgical instruments/procedures. A study on surgeon's tremor is conducted and the characteristics of the tremor band and its nature are analyzed. An adaptive filtering approach is developed to estimate...
A hand-held tremor compensation instrument, Micron, has been under research recently. The sensing part of the instrument comprises a magnetometer and accelerometers. The use of the magnetometer is to provide accurate instrument orientation information. The drawbacks of relying on the magnetometer include the requirement for on-site calibration of the magnetometer and sub-optimal estimation of the...
Angular sensing resolution provided by accelerometers in Micron, a physiological tremor compensation instrument, is determined by noise levels of accelerometer outputs and placement of the accelerometers. The angular sensing resolution can be increased by properly placing accelerometers in the instrument. In this paper, propositions for the placement of accelerometers to obtain the highest possible...
The authors had previously developed a system to assess accuracy of micromanipulation tasks. The system includes an optical Micro Motion Sensing System (M2S2). The M2S2, consisting of a pair of orthogonally placed position sensitive detectors (PSD) and an infra-red (IR) diode, tracks 3D displacement of the tip of a microsurgical instrument in real-time. The IR diode is used to illuminate the workspace...
An active physiological tremor compensation instrument has been under research and development recently. It has been shown that physiological tremor at the instrument tip can be calculated with respect to a body frame attached to the instrument. This eliminates the need to have the instrumentpsilas complete orientation information. However, kinematics used to calculate acceleration at the tip position...
Angular motion of a hand-held instrument due to physiological tremor during micromanipulation tasks was recorded with a six degree-of-freedom accelerometer-based sensing unit placed in the instrument. Methods to get angular velocities and angular accelerations from the acceleration readings of accelerators in the sensing unit are described. Statistics of angular velocity and angular acceleration of...
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