Mechatronics device for tremor sensing and cancellation for accuracy enhancement in microsurgeries

An involuntary muscle motion is known as tremors. During microsurgeries which includes the operation of delicate organs like eye, ear etc. tremors deteriorate surgeon micromanipulation ability. This further may causes severe damage to the surrounding tissues under operation. This paper proposes a hand held mechatronics device for real time sensing and active cancellation of tremor motions using piezoelectric bending actuators. Device incorporates inertial sensor to sense surgeons hand motion, adaptive filter with zero phase delay to differentiate between voluntary & tremor motion Three piezoelectric bending actuator assemblies provides linear actuation along Z axis in order to move tool tip in equal and opposite direction of tremor motion which maintains tool tip at desired position with active tremor cancellation.