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Position-sensitive detectors (PSDs), or lateral-effect photodiodes, are commonly used for high-speed, high-resolution optical position measurement. This paper describes the instrument design for multidimensional position and orientation measurement based on the simultaneous position measurement of multiple modulated sources using frequency-domain-multiplexed (FDM) PSDs. The important advantages of...
This paper demonstrates tremor compensation for human subjects using an active handheld micromanipulator. This instrument uses optical and inertial sensing to detect its own motion, estimates tremor using linear filtering, and a flexure-based manipulator to actuate the tip. Compensation results while tracing a line with the tool are presented for both novice users and a trained surgeon. Learning effects...
Accuracy in manual manipulation in a simulated craniotomy environment has been studied. Eighty-eight neurosurgeons with varying amounts of surgical experience were tested in two tasks: attempting to hold an instrument still, and trying to trace a line. Results for RMS and maximum linear and angular motion were measured in the static task. RMS and maximum error were measured in the dynamic task. Spectral...
The capability to use a moving sensor to detect moving objects and predict their future path enables both collision warning systems and autonomous navigation. This paper describes a system that combines linear feature extraction, tracking and a motion evaluator to accurately estimate motion of vehicles and pedestrians with a low rate of false motion reports. The tracker was used in a prototype collision...
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