用于机器人辅助微创手术中抑制生理震颤的零相位自适应模糊卡尔曼滤波器。
A zero phase adaptive fuzzy Kalman filter for physiological tremor suppression in robotically assisted minimally invasive surgery.
作者信息
Sang Hongqiang, Yang Chenghao, Liu Fen, Yun Jintian, Jin Guoguang, Chen Fa
机构信息
School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
出版信息
Int J Med Robot. 2016 Dec;12(4):658-669. doi: 10.1002/rcs.1741. Epub 2016 Mar 1.
BACKGROUND
Hand physiological tremor of surgeons can cause vibration at the surgical instrument tip, which may make it difficult for the surgeon to perform fine manipulations of tissue, needles, and sutures.
METHODS
A zero phase adaptive fuzzy Kalman filter (ZPAFKF) is proposed to suppress hand tremor and vibration of a robotic surgical system. The involuntary motion can be reduced by adding a compensating signal that has the same magnitude and frequency but opposite phase with the tremor signal.
RESULTS
Simulations and experiments using different filters were performed. Results show that the proposed filter can avoid the loss of useful motion information and time delay, and better suppress minor and varying tremor.
CONCLUSIONS
The ZPAFKF can provide less error, preferred accuracy, better tremor estimation, and more desirable compensation performance, to suppress hand tremor and decrease vibration at the surgical instrument tip. Copyright © 2016 John Wiley & Sons, Ltd.
背景
外科医生手部的生理性震颤会导致手术器械尖端产生振动，这可能使外科医生难以对组织、针和缝线进行精细操作。
方法
提出一种零相位自适应模糊卡尔曼滤波器（ZPAFKF）来抑制机器人手术系统的手部震颤和振动。通过添加一个与震颤信号幅度相同、频率相同但相位相反的补偿信号，可以减少非自主运动。
结果
使用不同滤波器进行了仿真和实验。结果表明，所提出的滤波器可以避免有用运动信息的丢失和时间延迟，并且能更好地抑制轻微和变化的震颤。
结论
ZPAFKF能够提供更小的误差、更优的精度、更好的震颤估计以及更理想的补偿性能，以抑制手部震颤并减少手术器械尖端的振动。版权所有© 2016约翰·威利父子有限公司。
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