Hand-Held Instrument with Integrated Parallel Mechanism for Active Tremor Compensation During Microsurgery
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Annals of Biomedical Engineering ( 2019) https://doi.org/10.1007/s10439-019-02358-2
Original Article
Hand-Held Instrument with Integrated Parallel Mechanism for Active Tremor Compensation During Microsurgery TIANCI ZHANG, LUN GONG, SHUXIN WANG, and SIYANG ZUO Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China (Received 26 March 2019; accepted 9 September 2019) Associate Editor Xiaoxiang Zheng oversaw the review of this article.
Abstract—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. Keywords—Physiological tremor, Piezoelectric actuator, Mechanical design, Inertial sensor.
INTRODUCTION During microsurgery, various involuntary hand motions including physiological tremors,9 jerks22 and drifts10 hamper the performance of surgeons. These involuntary hand motions make some procedures difficult and some desired procedures impossible, such as retina microsurgery applications34 and otolaryngology.32 In particular, epiretinal membrane peeling is a Address correspondence to Siyang Zuo, Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China. Electronic mail: [email protected]
huge challenge in retinal microsurgery. The retinal thickness is about 10–20 lm and any slight hand tremor may cause irreversible damage to the patient. With the aim of improving manipulation accuracy in microsurgery, several different types of devices have been developed, including telerobotic systems6 and ‘‘steady-hand’’ cooperatively controlled robotic systems.28 Although the ‘‘robotic hand’’ has many of the human hand’s features, it seems clumsier than the real human hand. Moreover, the surgeon’s hand is already in possession of a dexterous manipulator and an unbeatable natural user interface. Thus, developing a robotic system to replace the surgeon’s hand may cause the surgeon to lose naturalness of feel. Recently, technology groups have become intere
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