Seminar 2007 04 11 Compensation of Tremor

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CISST ERC Seminar
Compensation of Tremor by an Active Handheld Micromanipulator

Date: Wednesday, April 11, 2007
Time: 12:00pm
Place: Maryland 110 (Lunch will be served)

Speaker: David Choi
Title: Compensation of Tremor by an Active Handheld Micromanipulator
Presentation: PDF, not yet uploaded

Abstract

Micromanipulation is a difficult task for humans. Even microsurgeons, known for their steady hands, exhibit involuntary physiological tremor which makes certain microsurgical procedures difficult or even impossible. This tremor has traditionally been approximated to be sinusoidal with a typical amplitude of 50 µm p-p and a frequency between 8-12 Hz. However, studies in our laboratory have shown that the measured undesired motion is more broadband containing frequencies below 1 Hz. Elimination of tremor would make currently unattainable tasks such as intraocular cannulation for retinal vein occlusions possible.

Micron is a handheld device that inertially senses its own overall motion, filters the sensor readings to distinguish between desired and undesired motion, and finally actuates its tip with an equal but opposite motion to cancel the tremor in real time.

This talk will present the design and experimental results of a flexure-based parallel manipulator that is actuated by three piezoelectric stacks. By using flexures to approximate pin and ball joints, errors due to friction, backlash, and imperfect assemblies have been eliminated. Handheld results of subjects using Micron with this manipulator will also be presented.