Test of Tracing Performance with an Active Handheld Micromanipulator
Conference Paper, Proceedings of 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '07), pp. 3638 - 3641, August, 2007
Abstract
This paper demonstrates tremor compensation for human subjects using an active handheld micromanipulator. This instrument uses optical and inertial sensing to detect its own motion, estimates tremor using linear filtering, and a flexure-based manipulator to actuate the tip. Compensation results while tracing a line with the tool are presented for both novice users and a trained surgeon. Learning effects from repetition of the trials over a ten-day period are described.
BibTeX
@conference{Choi-2007-9801,author = {David Choi and Roberto Sandoval Garcia and Robert MacLachlan and Lawrence Ho and Louis Lobes and Cameron Riviere},
title = {Test of Tracing Performance with an Active Handheld Micromanipulator},
booktitle = {Proceedings of 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '07)},
year = {2007},
month = {August},
pages = {3638 - 3641},
keywords = {microsurgery, tremor, medical robotics},
}
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