  Microsurgery Error Compensation
Positioning error is inherent in normal human hand motion. This includes components such as physiological tremor, jerk, and low-frequency wander. Disease and brain injury can cause further involuntary movement disorders, such as pathological tremor, athetosis, and ataxia.In patients with movement disorders, involuntary motion interferes with quality of life and independence in daily living. For a surgeon performing microsurgery, involuntary hand motion limits the accuracy with which he or she operates. This problem is especially significant in the fields of ophthalmological and neurological surgery.
Designing error compensation into human-machine interfaces not only provides a potential solution for the involuntary hand motions of microsurgeons, it can also be used in patient rehabilitation, vehicle control, and suppression of pilot-induced oscillations, to name a few. Error Compensation in Human-machine Interfaces (use your browsers back button to return to MRCAS)
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To deal with this problem, we are developing an intelligent active hand-held instrument for ophthalmological microsurgery. This instrument senses its own motion, distinguishes between desired and undesired motion using advanced filtering techniques, and actively compensates for undesired motion by an equal but opposite deflection of its own tip.