Simulation and development of anti tremor apparatus for microsurgery

Tremor, an involuntary motion of the muscle, limits the positing accuracy and micromanipulation capability of the surgeon. This paper describes the simulation and development of anti-tremor apparatus mainly consisting of three sub-systems i.e. measurement, tremor estimation algorithm and cancellation control system. Inertial sensor is used for the measurement of hand acceleration and orientation. Adaptive filter differentiates between the tremor and intended motion which was further used for compensation by the actuator to keep the tool tip at the desired position. Robot manipulation concepts have been used for a controlled deviation of tool tip. Low cost, light weight and small are a few advantages of the device. The hand held device also maintains its naturalness for surgeons.