Riviere C N, Rader R S, Thakor N V
Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218-2686, USA.
IEEE Trans Biomed Eng. 1998 Jul;45(7):839-46. doi: 10.1109/10.686791.
Physiological hand tremor impedes microsurgery. We present both a novel adaptive algorithm for tremor estimation and a new technique for active real-time canceling of physiological tremor. Tremor is modeled online using the weighted-frequency Fourier linear combiner (WFLC). This adaptive algorithm models tremor as a modulating sinusoid, and tracks its frequency, amplitude, and phase. Piezoelectric actuators move the surgical instrument tip in opposition to the motion of tremor, effectively subtracting the tremor from the total motion. We demonstrate the technique in one dimension using a cantilever apparatus as a benchtop simulation of the surgical instrument. Actual hand motion, prerecorded during simulated surgery, is used as input. In 25 tests, WFLC tremor compensation reduces the rms tip motion in the 6-16 Hz tremor band by 67%, and reduces the rms error with respect to an a posteriori estimate of voluntary motion by 30%. The technique can be implemented in a hand-held microsurgical instrument.
生理性手部震颤会妨碍显微外科手术。我们提出了一种用于震颤估计的新型自适应算法以及一种用于主动实时消除生理性震颤的新技术。使用加权频率傅里叶线性组合器（WFLC）对震颤进行在线建模。这种自适应算法将震颤建模为调制正弦波，并跟踪其频率、幅度和相位。压电致动器使手术器械尖端朝着与震颤运动相反的方向移动，从而有效地从总运动中减去震颤。我们使用悬臂装置作为手术器械的台式模拟，在一维中演示了该技术。在模拟手术期间预先记录的实际手部运动用作输入。在25次测试中，WFLC震颤补偿使6 - 16Hz震颤频段内的尖端均方根运动降低了67%，并且相对于自愿运动的后验估计，均方根误差降低了30%。该技术可在手持式显微外科器械中实现。
