For effective tremor compensation in robotics assisted hand-held device, accurate filtering of
tremulous motion is necessary. The time-varying unknown phase delay that arises due to …

Position sensing with inertial sensors such as accelerometers and gyroscopes usually
requires other aided sensors or prior knowledge of motion characteristics to remove position …

Goal: This paper offers a new approach to model physiological tremor aiming at attenuating
undesired vibrations of the tip of microsurgical instruments. Method: Several tremor …

Accurate canceling of physiological tremor is extremely important in robotics-assisted
surgical instruments/procedures. The performance of robotics-based hand-held surgical …

This paper focuses on developing a simple and efficient tremor estimation algorithm suitable
for real-time applications. Autoregressive model in combination with Kalman filter is …

Precision, robustness, dexterity, and intelligence are the design indices for current
generation surgical robotics. To augment the required precision and dexterity into normal …

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 …

All existing physiological tremor filtering algorithms, developed for robotic microsurgery, use
nonlinear phase prefilters to isolate the tremor signal. Such filters cause phase distortion to …

Digital filters are employed in hand-held robotic instruments to separate the concomitant
involuntary physiological tremor motion from the desired motion of micro-surgeons. Inherent …

Performance of robotics based hand-held surgical devices in real-time is mainly dependent
on accurate filtering of physiological tremor. The presence of phase delay in sensors …