Tremor Detection for Accuracy Enhancement in Microsurgeries Using Inertial Sensor

Physiological tremor is inherent in all humans. During surgeries accuracy of the hand held instrument also varies due to surgeons hand tremor and it and reduces surgeons capability to accurately manipulate instrument. This may cause irreversible damages to the small and delicate organs. Thus active cancellation of this tremor will improve manipulation accuracy in surgeries. In this paper we propose a simple algorithm for tremor measurement using low cost inertial sensor. Tool displacement due to tremor motion is estimated which further can be used for active cancellation of tremor.