Real time estimation and suppression of hand tremor for surgical robotic applications

Kumar, Akhlesh and Kumar, Sanjeev and Kaushik, Ajeet and Kumar, Amod and Saini, J.S. (2020) Real time estimation and suppression of hand tremor for surgical robotic applications. Microsystem Technologies. ISSN 0946-7076

Full text not available from this repository.
Official URL:


In this work, an algorithm was developed to record and suppress the physiological tremor present in the hands of surgeon doing robotic surgical procedure due to fatigue or otherwise. A prototype setup of master handle having six degree of freedom with a vibration motor was designed and fabricated to record the hand tremor. The work involved recording the composite simulated motion consisting of both voluntary motion of surgeon’s hand and associated involuntary motion of tremor in real time, determination of peak frequencies of both the motions and providing necessary information on the graphical user interface. The adaptive algorithm is capable to cancel out the involuntary motion from the recorded raw signal in real time. After filtration, only voluntary motion remains for further processing. The developed algorithm promises potential to make robotic surgery more precise and error free.

Item Type: Article
Subjects: CSIO > Medical Instrumentation
Divisions: Medical Instrumentation
Depositing User: Ms. Jyotsana
Date Deposited: 10 Aug 2020 12:00
Last Modified: 10 Aug 2020 12:00

Actions (login required)

View Item View Item