Toward active tremor canceling in handheld microsurgical instruments

An Intelligent Hand-held Microsurgical Instrument for Improved Accuracy

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 d...

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...

Modeling and Control of Piezoelectric Actuators for Active Physiological Tremor Compensation

Humans have intrinsic limitations in manual positioning accuracy due to small involuntary movements that are inherent in normal hand motion. Among the several types of erroneous hand movements, physiological tremor is well studied and documented. Physiological tremor is roughly sinusoidal, in the frequency band of 8 – 12 Hz, and measures about 50 μm rms or more in each principal direction. Phys...

An Active Hand-Held Instrument for Enhanced Microsurgical Accuracy

This paper presents the first prototype of an active hand-held instrument to sense and compensate physiological tremor and other unwanted movement during vitreoretinal microsurgery. The instrument incorporates six inertial sensors (three accelerometers and three rate gyros) to detect motion of the handle. The movement of the instrument tip in three dimensions is then obtained using appropriate ...

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