TY - GEN
T1 - Comparison of baseline tremor under various microsurgical conditions
AU - Wells, Trent S.
AU - Yang, Sungwook
AU - MacLachlan, Robert A.
AU - Handa, James T.
AU - Gehlbach, Peter
AU - Riviere, Cameron
PY - 2013
Y1 - 2013
N2 - This paper presents the characterization and comparison of physiological tremor for pointing tasks in multiple environments, as a baseline for performance evaluation of microsurgical robotics. Previous studies have examined the characteristics of physiological tremor under laboratory settings as well as different operating conditions. However, different test methods make the comparison of results across trials and conditions difficult. Two vitroretinal microsurgeons were evaluated while performing a pointing task with no entry-point constraint, constrained by an artificial eye model, and constrained by a rabbit eye in vivo. For the three respective conditions the 3D RMS positioning error was 144 μm, 258 μm, and 285 μm, and maximum 3D error was 349 μm, 647 μm, and 696 μm. A spectral analysis was also performed, confirming a distinct peak near in the 6-12 Hz frequency range, characteristic of hand tremor during tasks in all three environments.
AB - This paper presents the characterization and comparison of physiological tremor for pointing tasks in multiple environments, as a baseline for performance evaluation of microsurgical robotics. Previous studies have examined the characteristics of physiological tremor under laboratory settings as well as different operating conditions. However, different test methods make the comparison of results across trials and conditions difficult. Two vitroretinal microsurgeons were evaluated while performing a pointing task with no entry-point constraint, constrained by an artificial eye model, and constrained by a rabbit eye in vivo. For the three respective conditions the 3D RMS positioning error was 144 μm, 258 μm, and 285 μm, and maximum 3D error was 349 μm, 647 μm, and 696 μm. A spectral analysis was also performed, confirming a distinct peak near in the 6-12 Hz frequency range, characteristic of hand tremor during tasks in all three environments.
KW - Accuracy
KW - Medical robotics
KW - Microsurgery
KW - Physiological tremor
KW - Smart instruments
KW - Tremor
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U2 - 10.1109/SMC.2013.256
DO - 10.1109/SMC.2013.256
M3 - Conference contribution
C2 - 24752457
AN - SCOPUS:84893608241
SN - 9780769551548
T3 - Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
SP - 1482
EP - 1487
BT - Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
T2 - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Y2 - 13 October 2013 through 16 October 2013
ER -