Estimation and filtering of physiological tremor for real-time compensation in surgical robotics applications

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
K C Veluvolu, W T Ang

Abstract

Physiological tremor is the main cause of imprecision in microsurgical procedures/robotics applications. Existing methods, such as weighted-frequency Fourier linear combiner (WFLC), rely on estimating the tremor under the assumption that it has a single dominant frequency. This paper focuses on developing a new algorithm for accurate tremor filtering in real time. A study conducted on several novice subjects and microsurgeons showed the tremor to contain several dominant frequencies in a band, rather than a single dominant frequency. Based on the tremor characteristics, a new algorithm band-limited multiple Fourier linear combiner (BMFLC) has been developed to estimate a band of signals with multiple dominant frequencies. A separation procedure to separate the intended motion/drift from the tremor portion is also discussed. A simulation study was first conducted to validate the theoretical development on recorded tremor data. The experimental set-up was designed to study the real-time performance of the proposed algorithm. Tremor sensing using accelerometers is also discussed, with the proposed algorithm. Our experiments showed that the developed BMFLC algorithm had an average tremor compensation of 64% compared to 43% for the ...Continue Reading

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Citations

Dec 14, 2011·Sensors·Kalyana C Veluvolu, Wei Tech Ang
Jan 24, 2014·TheScientificWorldJournal·Sivanagaraja Tatinati, Kalyana C Veluvolu
Sep 25, 2014·World Journal of Surgical Oncology·Amilcare ParisiAndrea Coratti
Mar 2, 2016·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Hongqiang SangFa Chen
Dec 30, 2014·IEEE Transactions on Cybernetics·Sivanagaraja TatinatiWei Tech Ang
May 17, 2012·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·A GhorbanianK Baghestan
May 17, 2012·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Mamoru MitsuishiKanako Harada
Jul 18, 2015·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Fabrizio Di BenedettoGiuseppe Tarantino
Aug 6, 2013·Surgical Oncology·Roberto CirocchiMassimo Falconi
Nov 28, 2013·Journal of Neuroengineering and Rehabilitation·Yubo WangMinho Lee
Dec 7, 2016·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Hongqiang SangGuoguang Jin
Apr 22, 2017·Scientific Reports·Yongkuk LeeWoon-Hong Yeo
Jul 7, 2021·Hematology/oncology Clinics of North America·Andrew J Holcomb, Jeremy D Richmon

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