Intraoperative instrument motion sensing for microsurgery - Robotics Institute Carnegie Mellon University

Intraoperative instrument motion sensing for microsurgery

Mario Gomez-Blanco, Cameron Riviere, and Pradeep Khosla
Conference Paper, Proceedings of 21st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '99), pp. 864, October, 1999

Abstract

There is a need for instrument motion sensing with sufficient accuracy for microsurgery. An instrument featuring six-degree-of-freedom (6-dof) inertial sensing of intraoperative motion has been developed. With rms noise of 7.8 mm/s/sup 2/ and 1.1 mdeg/s and bandwidth over 20 Hz, it is capable of capturing both gross motion and microscopic movements, e.g., hand tremor. Preliminary results are presented.

BibTeX

@conference{Gomez-Blanco-1999-15038,
author = {Mario Gomez-Blanco and Cameron Riviere and Pradeep Khosla},
title = {Intraoperative instrument motion sensing for microsurgery},
booktitle = {Proceedings of 21st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '99)},
year = {1999},
month = {October},
pages = {864},
}