Adaptive cancelling of physiological tremor for improved precision in microsurgery

Towards robotized beating heart TECABG: Assessment of the heart dynamics using high-speed vision

“…In Table II, "FLC" is the method used in reference [5], being first introduced by Riviere et al [15]. "QRS" is a method that uses QRS sampling to extract the respiratory motion, but the modulation effect of the beating motion is neglected by the predictor.…”

Predicting respiratory motion for active canceling during percutaneous needle insertion

“…), sampled at 100 Hz. This provided a signal, s k , which was then used as input to the WFLC algorithm [6]:…”

“…Prediction will be accomplished using the weightedfrequency Fourier linear combiner (WFLC), an adaptive algorithm developed specifically for modeling of quasi-periodic signals [6]. The WFLC constructs a dynamic truncated Fourier series model of the disturbance, continually updating its fundamental frequency and harmonic component amplitudes (Fourier coefficients).…”

“…It is ideal for modeling quasi-periodic biological signals in which neither frequency nor amplitude is fixed. The algorithm has been used in canceling of signals such as hand tremor and heart motion, for applications in microsurgery and rehabilitation [6][7][8].…”

Design of all-accelerometer inertial measurement unit for tremor sensing in hand-held microsurgical instrument

“…The inertial measurement unit senses the motion of the instrument and feeds the raw sensory information to the filtering algorithms. The filtering algorithms remove the intended motion, compensate for the phase shift due to analog and digital filters, and model and estimate the tremor based on a dynamic sinusoidal model [10]. The motion of the instrument tip is then computed by forward kinematics after removal of the gravity.…”