Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300072, China.
Ann Biomed Eng. 2020 Jan;48(1):413-425. doi: 10.1007/s10439-019-02358-2. Epub 2019 Sep 17.
Physiological hand tremor seriously influences the surgical instrument's tip positioning accuracy during microsurgery. To solve this problem, hand-held active tremor compensation instruments are developed to improve tip positioning accuracy during microsurgery. This paper presents the design and performance of a new hand-held instrument that aims to stabilize hand tremors and increase accuracy in microsurgery. The key components are a three degrees of freedom (DOF) integrated parallel manipulator and a high-performance inertial measurement unit (IMU). The IMU was developed to sense the 3-DOF motion of the instrument tip. A customized filter was applied to extract specific hand tremor motion. Then, the instrument was employed to generate the reverse motion simultaneously to reduce tremor motion. Experimental results show that the tremor compensation mechanism is effective. The average RMS reduction ratio of bench test is 56.5% that is a significant tremor reduction ratio. For hand-held test, it has an average RMS reduction ratio of 41.0%. Hence, it could reduce hand tremor magnitudes by 31.7% RMS in 2-DOF.
生理性手部震颤严重影响微创手术中手术器械尖端的定位精度。为了解决这个问题，开发了手持式主动震颤补偿仪器，以提高微创手术中的尖端定位精度。本文介绍了一种新型手持式仪器的设计和性能，旨在稳定手部震颤并提高微创手术的准确性。关键组件是一个具有三个自由度（DOF）的集成并联机构和一个高性能惯性测量单元（IMU）。IMU 用于感测仪器尖端的 3-DOF 运动。应用了定制的滤波器来提取特定的手部震颤运动。然后，仪器被用来生成反向运动，以同时减少震颤运动。实验结果表明，震颤补偿机制是有效的。台架测试的平均 RMS 降低率为 56.5%，是一个显著的震颤降低率。对于手持式测试，它的平均 RMS 降低率为 41.0%。因此，它可以将 2-DOF 中的手部震颤幅度降低 31.7% RMS。
