Title :
Intraoperative instrument motion sensing for microsurgery
Author :
Gomez-Blanco, Mario ; Riviere, Cameron N. ; Khosla, Pradeep K.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
There is a need for instrument motion sensing with sufficient accuracy for microsurgery. An instrument featuring six-degree-of-freedom (6-dof) inertial sensing of intraoperative motion has been developed. With rms noise of 7.8 mm/s2 and 1.1 mdeg/s and bandwidth over 20 Hz, it is capable of capturing both gross motion and microscopic movements, e.g., hand tremor. Preliminary results are presented
Keywords :
accelerometers; biocontrol; biomedical transducers; motion measurement; surgery; 20 Hz; accuracy; bandwidth; gross motion; hand tremor; intraoperative instrument motion sensing; microscopic movements; microsurgery; rms noise; six-degree-of-freedom inertial sensing; Bandwidth; Humans; Instruments; Microsurgery; Motion measurement; Retina; Robot sensing systems; Surgery; Testing; Tracking;
Conference_Titel :
[Engineering in Medicine and Biology, 1999. 21st Annual Conference and the 1999 Annual Fall Meetring of the Biomedical Engineering Society] BMES/EMBS Conference, 1999. Proceedings of the First Joint
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-5674-8
DOI :
10.1109/IEMBS.1999.804019
