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.

中文翻译：

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具有集成并联机构的手持式仪器，用于显微外科手术中的主动震颤补偿

摘要

生理手部震颤会严重影响显微外科手术过程中手术器械的尖端定位精度。为了解决这个问题，开发了手持式主动震颤补偿仪器，以提高显微外科手术期间的尖端定位精度。本文介绍了一种新型手持仪器的设计和性能，该仪器旨在稳定手部震颤并提高显微外科手术的准确性。关键组件是集成了三自由度（DOF）的并联机械手和高性能惯性测量单元（IMU）。IMU的开发目的是感应仪器尖端的3自由度运动。应用定制的过滤器以提取特定的手部震颤运动。然后，使用该仪器同时产生反向运动以减少震颤。实验结果表明，震颤补偿机制是有效的。基准测试的平均RMS降低率为56.5％，这是一个显着的震颤降低率。对于手持式测试，其平均RMS降低率为41.0％。因此，它可以在2自由度中将手部震颤幅度降低31.7％RMS。