A Novel Suppression Algorithm of Isometric Tremor for the Vascular Interventional Surgical Robot∗

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.