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

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-08-02 DOI:10.1002/rcs.2666

Wenjie Wang, Boqiang Jia, Jianwei Ma, Xiaohua Wang, Huajian Song

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引用次数: 0

Abstract

Background

During 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.

Methods

This 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.

Results

By 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.

Conclusion

The 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.

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利用改进的增强型带限多重傅立叶线性组合器在机器人辅助手术中估计和消除震颤

背景：在机器人辅助微创手术过程中，外科医生操纵主机械手时的手部震颤会引起从属手术器械的振动：本文针对这一问题，提出了一种用于过滤外科医生手部生理震颤信号的改进型增强带限多重线性傅立叶组合器（E-BMFLC）算法。所提出的方法利用输入信号的振幅来调整学习率，并对震颤信号的较高振幅波段进行组合器波段的密集划分：通过使用所提出的改进型 E-BMFLC 算法，补偿精度可提高 4.5%-8.9%，空间位置误差小于 1 mm：结果表明，在所有滤波方法中，改进型 E-BMFLC 滤波方法的实验成功次数最多，实验时间最短。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.