Micromanipulation accuracy in pointing and tracing investigated with a contact-free measurement system

Su, Eileen Lee Ming; Win, T.L.; Ang, Wei Tech; Lim, Thiam Chye; Teo, Chee Leong; Burdet, Etienne

doi:10.1109/iembs.2009.5333665

Cited by 15 publications

(14 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to show that the method works well with the quasi-periodic signals such as physiological tremor signals since a tremor is approximately a rhythmic (quasi-periodic) signal [ 23 ], and can be employed in real-time physiological tremor compensation/cancellation, the method is tested with real physiological tremor data. The tremor data is obtained from surgical instrument tip motion which is measured [ 24 ] during micromanipulation tasks performed by subjects using a micro motion sensing system (M2S2) [ 25 ]. The instrument tip motion data is filtered off-line using an off-line zero-phase band-pass filter having a pass-band of 5–15 Hz to obtain physiological tremor and remove non-tremulous components such as low-frequency drift, intended motion, and sensor and measurement noise.…”

Section: Simulation Methods and Resultsmentioning

confidence: 99%

Drift-Free Position Estimation of Periodic or Quasi-Periodic Motion Using Inertial Sensors

Latt

Veluvolu

Ang

2011

Sensors

View full text Add to dashboard Cite

Position sensing with inertial sensors such as accelerometers and gyroscopes usually requires other aided sensors or prior knowledge of motion characteristics to remove position drift resulting from integration of acceleration or velocity so as to obtain accurate position estimation. A method based on analytical integration has previously been developed to obtain accurate position estimate of periodic or quasi-periodic motion from inertial sensors using prior knowledge of the motion but without using aided sensors. In this paper, a new method is proposed which employs linear filtering stage coupled with adaptive filtering stage to remove drift and attenuation. The prior knowledge of the motion the proposed method requires is only approximate band of frequencies of the motion. Existing adaptive filtering methods based on Fourier series such as weighted-frequency Fourier linear combiner (WFLC), and band-limited multiple Fourier linear combiner (BMFLC) are modified to combine with the proposed method. To validate and compare the performance of the proposed method with the method based on analytical integration, simulation study is performed using periodic signals as well as real physiological tremor data, and real-time experiments are conducted using an ADXL-203 accelerometer. Results demonstrate that the performance of the proposed method outperforms the existing analytical integration method.

show abstract

Section: Simulation Methods and Resultsmentioning

confidence: 99%

Drift-Free Position Estimation of Periodic or Quasi-Periodic Motion Using Inertial Sensors

Latt

Veluvolu

Ang

2011

Sensors

View full text Add to dashboard Cite

show abstract

“…The system has already been being used in evaluations of accuracy enhancement devices such as hand-held microsurgical instruments [10][11][34][35], and micromanipulation performance of surgeons [36]. Figure 22 shows the use of the system in the evaluations.…”

Section: Discussionmentioning

confidence: 99%

A micro motion sensing system for micromanipulation tasks

Latt

Tan

Georgiou

et al. 2012

Sensors and Actuators A: Physical

View full text Add to dashboard Cite

An optical-based motion sensing system has been developed for real-time sensing of instrument motion in micromanipulation. The main components of the system consist of a pair of position sensitive detectors (PSD), lenses, an infrared (IR) diode that illuminates the workspace of the system, a non-reflective intraocular shaft, and a white reflective ball attached at the end of the shaft. The system calculates 3D displacement of the ball inside the workspace using the centroid position of the IR rays that are reflected from the ball and strike the PSDs. In order to eliminate inherent nonlinearity of the system, calibration using a feedforward neural network is proposed and presented. Handling of different ambient light and environment light conditions not to affect the system accuracy is described. Analyses of the whole optical system and effect of instrument orientation on the system accuracy are presented. Sensing resolution, dynamic accuracies at a few different frequencies, and static accuracies at a few different orientations of the instrument are reported. The system and the analyses are useful in assessing performance of hand-held microsurgical instruments and operator performance in micromanipulation tasks.

show abstract

“…Tremor recordings were performed with a Micro Motion Sensing System [13]. The system used a pair of orthogonally placed position sensitive detectors to track 3-D displacement of the tip of an instrumented stylus in a 10 × 10 × 10mm 3 workspace.…”

Section: Methodsmentioning

confidence: 99%

Improvement in modelling of physiological tremor by inclusion of grip force in quaternion weighted Fourier linear combiner

Adhikari

Tatinati

Veluvolu

et al. 2015

2nd IET International Conference on Intelligent Signal Processing 2015 (ISP)

View full text Add to dashboard Cite

Physiological tremor is an involuntary oscillatory movement of body parts particularly exhibited in hands. The unintended vibrations due to tremor causes tip of the microsurgical tools to fluctuate unnecessarily causing unacceptable imprecisions in micro-surgeries. All the existing algorithms such as weighted Fourier Linear Combiner (wFLC), and its extensions, treat three x, y and z axes of tremor as three independent channels. However our correlation and coherence analysis showed that there is significant coupling between tremor channels. More importantly grip force by which a surgeon holds a surgical device also shows significant coupling with three tremor channels, which has never been investigated before. We first modelled the tremor in 3 dimensions (3-D) using quaternion algebra, and found 27% improvement which we have presented in our previous work. In this paper, we show modelling tremor in 4 dimensions by incorporating grip force and three tremor channels further exploits the cross-channel coupling information which is naturally inherent between force and xyz tremor channels. Using quaternion algebra we extract this coupling information to improve the tremor modelling performance. We show that estimation performance of tremor improves by 45% using 4-D model instead 3-D, yielding overall improvement of 65% from 1-D to 4-D.

show abstract

Micromanipulation accuracy in pointing and tracing investigated with a contact-free measurement system

Cited by 15 publications

References 12 publications

Drift-Free Position Estimation of Periodic or Quasi-Periodic Motion Using Inertial Sensors

Drift-Free Position Estimation of Periodic or Quasi-Periodic Motion Using Inertial Sensors

A micro motion sensing system for micromanipulation tasks

Improvement in modelling of physiological tremor by inclusion of grip force in quaternion weighted Fourier linear combiner

Contact Info

Product

Resources

About