使用改进的增强带限多重傅里叶线性组合器进行机器人辅助手术中的震颤估计和去除。
Tremor Estimation and Removal in Robot-Assisted Surgery Using Improved Enhanced Band-Limited Multiple Fourier Linear Combiner.
机构信息
School of Electronics and Information, Xi'an Polytechnic University, Xi'an, China.
Xi'an Polytechnic University Branch of Shaanxi Artificial Intelligence Joint Laboratory, Xi'an Polytechnic University, Xi'an, China.
出版信息
Int J Med Robot. 2024 Aug;20(4):e2666. doi: 10.1002/rcs.2666.
BACKGROUND
During a robot-assisted minimally invasive surgery, hand tremors in a surgeon's manipulation of the master manipulator can cause vibrations of the slave surgical instruments.
METHODS
This letter addresses this problem by proposing an improved Enhanced Band-Limited Multiple Linear Fourier Combiner (E-BMFLC) algorithm for filtering the physiological tremor signals of a surgeon's hand. The proposed method uses the amplitude of the input signal to adapt the learning rate and a dense division of the combiner bands for the higher amplitude bands of the tremor signals.
RESULTS
By using the proposed improved E-BMFLC algorithm, the compensation accuracy can be improved by 4.5%-8.9%, as well as a spatial position error of less than 1 mm.
CONCLUSION
The results show that among all filtering methods, the improved E-BMFLC filtering method has the highest number of successful experiments and the lowest experimental time.
背景
在机器人辅助微创手术中，外科医生对手柄主操纵器的操作可能会导致手术器械的振动。
方法
本文通过提出一种改进的增强带限多线性傅里叶组合器（E-BMFLC）算法来解决这个问题，该算法用于过滤外科医生手部的生理震颤信号。所提出的方法使用输入信号的幅度来适应学习率，并对组合器频带进行密集划分，以便对震颤信号的较高幅度频带进行处理。
结果
通过使用所提出的改进的 E-BMFLC 算法，可以将补偿精度提高 4.5%-8.9%，并且空间位置误差小于 1 毫米。
结论
结果表明，在所提出的所有滤波方法中，改进的 E-BMFLC 滤波方法具有最高的成功实验次数和最低的实验时间。
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