TY - GEN
T1 - A Novel Suppression Algorithm of Isometric Tremor for the Vascular Interventional Surgical Robot∗
AU - Guo, Shuxiang
AU - Shen, Rui
AU - Xiao, Nan
AU - Bao, Xianqiang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - With the development of robot-assisted surgical system, more and more techniques and approaches have been applied in micro-surgery such as ophthalmologic surgery and cardiovascular surgery. However, surgeons' tremor in the tele-operation determines whether the surgery works. This paper focuses the vibration suppression of the isometric tremor, which is induced by the muscular tension after long-time operation, and proposes a method with recognition algorithm based on the supporting vector machine and moving-mean filter to identify and suppress the isometric tremor signal. The output of the filter, which is the targeted controlling signal, is transferred into the slave side to realize the accurate motion of the slave device without the influence of the surgeon's tremor. The cross validation indicates the accuracy of the proposed recognition algorithm and the comparison between the output of the pre-suppression and post-suppression convince the suppressing ability of the proposed method.
AB - With the development of robot-assisted surgical system, more and more techniques and approaches have been applied in micro-surgery such as ophthalmologic surgery and cardiovascular surgery. However, surgeons' tremor in the tele-operation determines whether the surgery works. This paper focuses the vibration suppression of the isometric tremor, which is induced by the muscular tension after long-time operation, and proposes a method with recognition algorithm based on the supporting vector machine and moving-mean filter to identify and suppress the isometric tremor signal. The output of the filter, which is the targeted controlling signal, is transferred into the slave side to realize the accurate motion of the slave device without the influence of the surgeon's tremor. The cross validation indicates the accuracy of the proposed recognition algorithm and the comparison between the output of the pre-suppression and post-suppression convince the suppressing ability of the proposed method.
KW - Isometric tremor
KW - Support vector machine (SVM)
KW - Tremor suppression algorithm
KW - Vascular interventional surgical robot (VISR)
UR - http://www.scopus.com/inward/record.url?scp=85062497659&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2018.8630502
DO - 10.1109/WCICA.2018.8630502
M3 - Conference contribution
AN - SCOPUS:85062497659
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 135
EP - 140
BT - Proceedings of the 2018 13th World Congress on Intelligent Control and Automation, WCICA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th World Congress on Intelligent Control and Automation, WCICA 2018
Y2 - 4 July 2018 through 8 July 2018
ER -