An Intelligent Hand-Held Microsurgical Instrument for Improved Accuracy

Abstract

This paper presents the development and initial experimental results of the first prototype of Micron, an active hand-held instrument to sense and compensate physiological tremor and other unwanted movement during vitreoretinal microsurgery. The instrument incorporates six inertial sensors, allowing the motion of the tip to be computed. The motion captured is processed to discriminate between desired and undesired components of motion. Tremor canceling is implemented via the weighted-frequency Fourier linear combiner (WFLC) algorithm, and compensation of non-tremorous error via a neural-network technique is being investigated. The instrument tip is attached to a three-degree-of-freedom parallel manipulator with piezoelectric actuation. The actuators move the tool tip in opposition to the tremor, thereby suppressing the erroneous motion. Motion canceling experiments with oscillatory motions in the frequency band of physiological tremor show that Micron is able to reduce error amplitude by 45.3% in 1-D tests and 34.3% in 3-D tests.

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Document Details

Document Type
Technical Report
Publication Date
Oct 25, 2001
Accession Number
ADA411525

Entities

People

  • Cameron N. Riviere
  • Pradeep K. Khosla
  • Wei T. Ang

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Accuracy
  • Algorithms
  • Amplitude
  • Cartesian Coordinates
  • Compensation
  • Data Acquisition
  • Detectors
  • Displacement
  • Frequency
  • Frequency Bands
  • Frequency Response
  • Mechanical Properties
  • Microsurgery
  • Movement Disorders
  • Oscillation
  • Three Dimensional

Readers

  • Geodesy
  • Robotics and Automation.
  • Vision Science/Vision Psychology/Cognitive Neuroscience.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms