Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
557661 | Biomedical Signal Processing and Control | 2010 | 8 Pages |
Tremor is the root cause for human imprecision during microsurgery. Accurate filtering of physiological tremor is extremely important for compensation in robotics assisted microsurgical instruments/procedures. A study on several surgeons tremor is conducted and the characteristics of the tremor are analyzed. A double adaptive bandlimited multiple Fourier linear combiner is designed to estimate the modulated signals with multiple frequency components for filtering and compensation of tremor in real-time. A separation procedure to separate the intended motion/drift from the tremor portion is developed. The proposed methods are compared with the existing weighted-frequency Fourier linear combiner (WFLC) algorithm on the tremor data of surgeons/subjects. Critical validation of the algorithm is performed, experiments are conducted for 1-degree of freedom (DOF) cancellation of tremor. Our experiments showed that our newly developed algorithm has a tremor compensation of at least 65% compared to 46% for the WFLC algorithm.