A study of a hand-held instrument´s angular motion due to physiological tremor in micromanipulation tasks

Author

Latt, W.T. ; Tan, U.-X. ; Widjaja, F. ; Veluvolu, K.C. ; Shee, C.Y. ; Ang, W.T.

Author_Institution

School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore

fYear

2008

fDate

20-25 Aug. 2008

Firstpage

1952

Lastpage

1955

Abstract

Angular motion of a hand-held instrument due to physiological tremor during micromanipulation tasks was recorded with a six degree-of-freedom accelerometer-based sensing unit placed in the instrument. Methods to get angular velocities and angular accelerations from the acceleration readings of accelerators in the sensing unit are described. Statistics of angular velocity and angular acceleration of the instrument due to the tremor obtained from ten normal subjects are reported. Assumption of very small tremor angular velocities in micromanipulation tasks to calculate tremor angular accelerations analytically is validated.

Keywords

Acceleration; Accelerometers; Angular velocity; Band pass filters; Gyroscopes; Instruments; Microsurgery; Performance evaluation; Statistics; Surgery; Acceleration; Biomedical Engineering; Humans; Micromanipulation; Microsurgery; Models, Biological; Models, Theoretical; Motion; Surgical Instruments; Tremor;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE

Conference_Location

Vancouver, BC

ISSN

1557-170X

Print_ISBN

978-1-4244-1814-5

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/IEMBS.2008.4649570

Filename

4649570