A novel control architecture for physiological tremor compensation in teleoperated systems

Telesurgery delivers surgical care to a ‘remote’ patient by means of robotic manipulators. When accurate positioning of the surgeon's tool is required, as in microsurgery, physiological tremor causes unwanted imprecision during a surgical operation. Accurate estimation/compensation of physiological tremor in teleoperation systems has been shown to improve performance during telesurgery.

[1]  Romeo Ortega,et al.  Putting energy back in control , 2001 .

[2]  Jens Timmer.  Modeling Noisy Time Series: Physiological Tremor , 1998 .

[3]  Win Tun Latt,et al.  Double adaptive bandlimited multiple Fourier linear combiner for real-time estimation/filtering of physiological tremor , 2010, Biomed. Signal Process. Control..

[4]  Cameron N. Riviere,et al.  Toward active tremor canceling in handheld microsurgical instruments , 2003, IEEE Trans. Robotics Autom..

[5]  Cameron N. Riviere,et al.  Design and implementation of active error canceling in hand-held microsurgical instrument , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[6]  Simon S. Haykin,et al.  Active Network Theory. , 1970 .

[7]  J. Willems.  Dissipative dynamical systems part I: General theory , 1972 .

[8]  Paolo Fiorini,et al.  A Design and Control Environment for Internet-Based Telerobotics , 1998, Int. J. Robotics Res..

[9]  R. C. Harwell,et al.  Physiologic tremor and microsurgery , 1983, Microsurgery.

[10]  Wei Tech Ang,et al.  Estimation of Physiological Tremor from Accelerometers for Real-Time Applications , 2011, Sensors.

[11]  M J Rosen,et al.  Evaluating manual control devices for those with tremor disability. , 1987, Journal of rehabilitation research and development.

[12]  Tsuneo Yoshikawa,et al.  Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay , 2000, ISER.

[13]  N. Thakor,et al.  Adaptive Fourier estimation of time-varying evoked potentials , 1989, IEEE Transactions on Biomedical Engineering.

[14]  J. Joseph,et al.  Fourier transforms , 2012 .

[15]  Wen-Hong Zhu,et al.  Stability guaranteed teleoperation: an adaptive motion/force control approach , 2000, IEEE Trans. Autom. Control..

[16]  Emmanuel Nuno,et al.  Asymptotic stability of teleoperators with variable time-delays , 2009, 2009 IEEE International Conference on Robotics and Automation.

[17]  Shahin Sirouspour,et al.  Nonlinear and Filtered Force/Position Mappings in Bilateral Teleoperation With Application to Enhanced Stiffness Discrimination , 2009, IEEE Transactions on Robotics.

[18]  Russell H. Taylor,et al.  A Steady-Hand Robotic System for Microsurgical Augmentation , 1999, Int. J. Robotics Res..

[19]  Septimiu E. Salcudean,et al.  Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators , 2001, Int. J. Robotics Res..

[20]  S. Thomas Alexander,et al.  Adaptive Signal Processing , 1986, Texts and Monographs in Computer Science.

[21]  Tariq Rahman,et al.  Optimal digital filtering for tremor suppression , 2000, IEEE Transactions on Biomedical Engineering.

[22]  Giancarlo Ferrigno,et al.  Force feedback in a piezoelectric linear actuator for neurosurgery , 2011, The international journal of medical robotics + computer assisted surgery : MRCAS.

[23]  A. W. M. van den Enden,et al.  Discrete Time Signal Processing , 1989 .

[24]  Jing Zhang,et al.  Real-time modeling and prediction of physiological hand tremor , 2005, Proceedings. (ICASSP '05). IEEE International Conference on Acoustics, Speech, and Signal Processing, 2005..

[25]  S M Rezaei,et al.  Development of a piezo‐actuated micro‐teleoperation system for cell manipulation , 2009, The international journal of medical robotics + computer assisted surgery : MRCAS.

[26]  Keyvan Hashtrudi-Zaad,et al.  Unconditional stability analysis of dual-user teleoperation systems , 2010, 2010 IEEE Haptics Symposium.

[27]  W. T. Ang,et al.  Estimation and filtering of physiological tremor for real‐time compensation in surgical robotics applications , 2010, The international journal of medical robotics + computer assisted surgery : MRCAS.