Medical robots have evolved from autonomous systems to tele-operated platforms and
mechanically-grounded, cooperatively-controlled robots. Whilst these approaches have …

We describe the design and performance of a handheld actively stabilized tool to increase
accuracy in microsurgery or other precision manipulation. It removes involuntary motion …

Pars plana vitrectomy is a challenging, minimally invasive microsurgical procedure due to its
intrinsic manoeuvres and physiological limits that constrain human capability. An important …

This paper presents the design and actuation of a six-degree-of-freedom manipulator for a
handheld instrument, known as “Micron,” which performs active tremor compensation during …

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 …

The global aging phenomenon has increased the number of individuals with age-related
neurological movement disorders including Parkinson's Disease (PD) and Essential 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 …

Pathological hand tremor (PHT) is among the most common movement symptoms of several
neurological disorders including Parkinson's disease and essential tremor. Extracting PHT is …