Micron: an Actively Stabilized Handheld Tool for Microsurgery
Identifieur interne : 001A89 ( Pmc/Checkpoint ); précédent : 001A88; suivant : 001A90Micron: an Actively Stabilized Handheld Tool for Microsurgery
Auteurs : Robert A. Maclachlan ; Brian C. Becker ; Jaime Cuevas Tabarés ; Gregg W. Podnar ; Louis A. Lobes ; Cameron N. RiviereSource :
- IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society [ 1552-3098 ] ; 2011.
Abstract
We describe the design and performance of a hand-held actively stabilized tool to increase accuracy in micro-surgery or other precision manipulation. It removes involuntary motion such as tremor by actuating the tip to counteract the effect of the undesired handle motion. The key components are a three-degree-of-freedom piezoelectric manipulator that has 400 μm range of motion, 1 N force capability, and bandwidth over 100 Hz, and an optical position measurement subsystem that acquires the tool pose with 4 μm resolution at 2000 samples/s. A control system using these components attenuates hand motion by at least 15 dB (a fivefold reduction). By considering the effect of the frequency response of Micron on the human visual feedback loop, we have developed a filter that reduces unintentional motion, yet preserves intuitive eye-hand coordination. We evaluated the effectiveness of Micron by measuring the accuracy of the human/machine system in three simple manipulation tasks. Handheld testing by three eye surgeons and three non-surgeons showed a reduction in position error of between 32% and 52%, depending on the error metric.
Url:
DOI: 10.1109/TRO.2011.2169634
PubMed: 23028266
PubMed Central: 3459596
Affiliations:
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<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101514509</journal-id><journal-id journal-id-type="pubmed-jr-id">36499</journal-id><journal-id journal-id-type="nlm-ta">IEEE Trans Robot</journal-id><journal-id journal-id-type="iso-abbrev">IEEE Trans Robot</journal-id><journal-title-group><journal-title>IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society</journal-title></journal-title-group><issn pub-type="ppub">1552-3098</issn><issn pub-type="epub">1941-0468</issn></journal-meta><article-meta><article-id pub-id-type="pmid">23028266</article-id><article-id pub-id-type="pmc">3459596</article-id><article-id pub-id-type="doi">10.1109/TRO.2011.2169634</article-id><article-id pub-id-type="manuscript">NIHMS345015</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Micron: an Actively Stabilized Handheld Tool for Microsurgery</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>MacLachlan</surname><given-names>Robert A.</given-names></name><role>Member, IEEE</role><aff id="A1">Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA</aff></contrib><contrib contrib-type="author"><name><surname>Becker</surname><given-names>Brian C.</given-names></name><role>Student Member, IEEE</role><aff id="A2">Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA</aff></contrib><contrib contrib-type="author"><name><surname>Tabarés</surname><given-names>Jaime Cuevas</given-names></name><aff id="A3">University of Valladolid, Spain</aff></contrib><contrib contrib-type="author"><name><surname>Podnar</surname><given-names>Gregg W.</given-names></name><aff id="A4">Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA</aff></contrib><contrib contrib-type="author"><name><surname>Lobes</surname><given-names>Louis A.</given-names><suffix>Jr.</suffix></name><aff id="A5">Dept. of Ophthalmology, University of Pittsburgh Medical Center, Pittsburgh, PA 15213 USA</aff></contrib><contrib contrib-type="author"><name><surname>Riviere</surname><given-names>Cameron N.</given-names></name><role>Senior Member, IEEE</role><aff id="A6">Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA</aff><email>camr@ri.cmu.edu</email></contrib></contrib-group><pub-date pub-type="nihms-submitted"><day>19</day><month>12</month><year>2011</year></pub-date><pub-date pub-type="epub"><day>18</day><month>11</month><year>2011</year></pub-date><pub-date pub-type="ppub"><day>1</day><month>2</month><year>2012</year></pub-date><pub-date pub-type="pmc-release"><day>01</day><month>2</month><year>2013</year></pub-date><volume>28</volume><issue>1</issue><fpage>195</fpage><lpage>212</lpage><abstract><p id="P1">We describe the design and performance of a hand-held actively stabilized tool to increase accuracy in micro-surgery or other precision manipulation. It removes involuntary motion such as tremor by actuating the tip to counteract the effect of the undesired handle motion. The key components are a three-degree-of-freedom piezoelectric manipulator that has 400 μm range of motion, 1 N force capability, and bandwidth over 100 Hz, and an optical position measurement subsystem that acquires the tool pose with 4 μm resolution at 2000 samples/s. A control system using these components attenuates hand motion by at least 15 dB (a fivefold reduction). By considering the effect of the frequency response of Micron on the human visual feedback loop, we have developed a filter that reduces unintentional motion, yet preserves intuitive eye-hand coordination. We evaluated the effectiveness of Micron by measuring the accuracy of the human/machine system in three simple manipulation tasks. Handheld testing by three eye surgeons and three non-surgeons showed a reduction in position error of between 32% and 52%, depending on the error metric.</p></abstract><kwd-group><title>Index Terms</title><kwd>Medical robotics</kwd><kwd>optical tracking</kwd><kwd>piezoelectric devices</kwd><kwd>compensation</kwd></kwd-group><funding-group><award-group><funding-source country="United States">National Institute of Biomedical Imaging and Bioengineering : NIBIB</funding-source><award-id>R01 EB007969-04 || EB</award-id></award-group><award-group><funding-source country="United States">National Institute of Biomedical Imaging and Bioengineering : NIBIB</funding-source><award-id>R01 EB000526-04A1 || EB</award-id></award-group></funding-group></article-meta></front></pmc><affiliations><list></list><tree><noCountry><name sortKey="Becker, Brian C" sort="Becker, Brian C" uniqKey="Becker B" first="Brian C." last="Becker">Brian C. Becker</name><name sortKey="Lobes, Louis A" sort="Lobes, Louis A" uniqKey="Lobes L" first="Louis A." last="Lobes">Louis A. Lobes</name><name sortKey="Maclachlan, Robert A" sort="Maclachlan, Robert A" uniqKey="Maclachlan R" first="Robert A." last="Maclachlan">Robert A. Maclachlan</name><name sortKey="Podnar, Gregg W" sort="Podnar, Gregg W" uniqKey="Podnar G" first="Gregg W." last="Podnar">Gregg W. Podnar</name><name sortKey="Riviere, Cameron N" sort="Riviere, Cameron N" uniqKey="Riviere C" first="Cameron N." last="Riviere">Cameron N. Riviere</name><name sortKey="Tabares, Jaime Cuevas" sort="Tabares, Jaime Cuevas" uniqKey="Tabares J" first="Jaime Cuevas" last="Tabarés">Jaime Cuevas Tabarés</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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