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首页> 外文期刊>Annals of Biomedical Engineering: The Journal of the Biomedical Engineering Society >Hand-Held Instrument with Integrated Parallel Mechanism for Active Tremor Compensation During Microsurgery
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Hand-Held Instrument with Integrated Parallel Mechanism for Active Tremor Compensation During Microsurgery

机译：具有集成并联机制的手持仪器，用于在显微外科的主动震颤补偿

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摘要

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.
机译：生理手势严重影响了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改善微型手术期间的尖端定位精度。本文介绍了一种新的手持仪器的设计和性能，旨在稳定手势和提高显微外科的准确性。关键部件是三个自由度（DOF）集成的并联机械手和高性能惯性测量单元（IMU）。 IMU是开发的，以感测仪器尖端的3-DOF运动。应用自定义过滤器以提取特定的手颤动运动。然后，采用仪器同时产生反向运动以减少震颤运动。实验结果表明，震颤补偿机制是有效的。平均RMS减少比率为56.5％，这是一个显着的震颤减少率。对于手持式测试，它的平均RMS降低率为41.0％。因此，它可以减少2-DOF的31.7％的手震颤大小。

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