Vision Aided Active Error Canceling in Handheld Microsurgical Instrument

Toward active tremor canceling in handheld microsurgical instruments

This paper describes research in active instruments for enhanced accuracy in microsurgery. The aim is to make accuracy enhancement as transparent to the surgeon as possible. Rather than using a robotic arm, we have taken the novel approach of developing a handheld instrument that senses its own movement, distinguishes between desired and undesired motion, and deflects its tip to perform active ...

Design and implementation of active error canceling in hand-held microsurgical instrument

Active handheld instrument for error compensation in microsurgery

Physiological hand tremor and other manual positioning errors limit precision in microsurgical procedures. Our research has involved development of adaptive algorithms and neural network methods for real-time compensation of such errors. This paper presents a novel design for an active hand-held microsurgical instrument to implement these algorithms, particularly during vitreoretinal microsurge...

Vision-aided IMU for handheld pedestrian navigation

Low cost inertial sensors are often promoted as the solution to indoor navigation. However, in reality, the quality of the measurements is poor, and as a result, the sensors can only be used to navigate for a few seconds at a time before the drift becomes too large to be useful. Therefore, it is necessary to regularly update the sensors with measurements from external systems such as GPS or oth...

Active Tremor Compensation in Handheld Instrument for Microsurgery

......................................................................................................................... iii Acknowledgement .......................................................................................................... v Table of Content ........................................................................................................... vii List of Figures ....