Tremor Estimation and Removal in Robot‐Assisted Surgery Using Improved Enhanced Band‐Limited Multiple Fourier Linear Combiner

Abstract

ABSTRACTBackgroundDuring a robot‐assisted minimally invasive surgery, hand tremors in a surgeon's manipulation of the master manipulator can cause vibrations of the slave surgical instruments.MethodsThis letter addresses this problem by proposing an improved Enhanced Band‐Limited Multiple Linear Fourier Combiner (E‐BMFLC) algorithm for filtering the physiological tremor signals of a surgeon's hand. The proposed method uses the amplitude of the input signal to adapt the learning rate and a dense division of the combiner bands for the higher amplitude bands of the tremor signals.ResultsBy using the proposed improved E‐BMFLC algorithm, the compensation accuracy can be improved by 4.5%–8.9%, as well as a spatial position error of less than 1 mm.ConclusionThe results show that among all filtering methods, the improved E‐BMFLC filtering method has the highest number of successful experiments and the lowest experimental time.