Comparison of baseline tremor under various microsurgical conditions

Trent S. Wells, Sungwook Yang, Robert A. MacLachlan, James T. Handa, Peter Gehlbach, Cameron Riviere

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Pages1482-1487
Number of pages6
DOIs
StatePublished - Dec 1 2013
Event2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
Duration: Oct 13 2013Oct 16 2013

Publication series

NameProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013

Other

Other2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
CountryUnited Kingdom
CityManchester
Period10/13/1310/16/13

Keywords

  • Accuracy
  • Medical robotics
  • Microsurgery
  • Physiological tremor
  • Smart instruments
  • Tremor

ASJC Scopus subject areas

  • Human-Computer Interaction

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  • Cite this

    Wells, T. S., Yang, S., MacLachlan, R. A., Handa, J. T., Gehlbach, P., & Riviere, C. (2013). Comparison of baseline tremor under various microsurgical conditions. In Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 (pp. 1482-1487). [6722009] (Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013). https://doi.org/10.1109/SMC.2013.256