手术机器人应用中的生理震颤实时补偿的估计和滤波。

Estimation and filtering of physiological tremor for real-time compensation in surgical robotics applications.

机构信息

School of Electronics Engineering, College of IT Engineering, Kyungpook National University, Daegu, South Korea.

出版信息

Int J Med Robot. 2010 Sep;6(3):334-42. doi: 10.1002/rcs.340.

DOI:10.1002/rcs.340

PMID:20623480

Abstract

BACKGROUND

Physiological tremor is the main cause of imprecision in microsurgical procedures/robotics applications. Existing methods, such as weighted-frequency Fourier linear combiner (WFLC), rely on estimating the tremor under the assumption that it has a single dominant frequency. This paper focuses on developing a new algorithm for accurate tremor filtering in real time.

METHODS

A study conducted on several novice subjects and microsurgeons showed the tremor to contain several dominant frequencies in a band, rather than a single dominant frequency. Based on the tremor characteristics, a new algorithm band-limited multiple Fourier linear combiner (BMFLC) has been developed to estimate a band of signals with multiple dominant frequencies. A separation procedure to separate the intended motion/drift from the tremor portion is also discussed.

RESULTS

A simulation study was first conducted to validate the theoretical development on recorded tremor data. The experimental set-up was designed to study the real-time performance of the proposed algorithm. Tremor sensing using accelerometers is also discussed, with the proposed algorithm. Our experiments showed that the developed BMFLC algorithm had an average tremor compensation of 64% compared to 43% for the WFLC algorithm in real-time for one degree of freedom (1-DOF) cancellation of tremor.

CONCLUSIONS

The BMFLC algorithm can be applied for the three axes separately and 3-DOF cancellation of tremor can be achieved. Further research is required to deal with complex gestures involved during microsurgery.

摘要

背景

生理震颤是微创手术/机器人应用中不精确的主要原因。现有的方法，如加权频率傅里叶线性组合器（WFLC），依赖于在假定存在单一主导频率的情况下估计震颤。本文专注于开发一种新的实时精确震颤滤波算法。

方法

对几位新手和显微外科医生进行的一项研究表明，震颤在一个频带中包含多个主导频率，而不是单一的主导频率。基于震颤特征，开发了一种新的带限多傅里叶线性组合器（BMFLC）算法，以估计具有多个主导频率的信号带。还讨论了一种从意图运动/漂移中分离震颤部分的分离过程。

结果

首先进行了一项模拟研究，以验证对记录的震颤数据的理论开发。实验设置旨在研究所提出算法的实时性能。还讨论了使用加速度计进行震颤感测，以及所提出的算法。我们的实验表明，与 WFLC 算法相比，开发的 BMFLC 算法在实时情况下，对 1 自由度（1-DOF）震颤的平均震颤补偿为 64%，而补偿为 43%。