Physical Sciences and Mathematics Commons^™

Sensing Hand Tremor In A Vitreoretinal Microsurgical Instrument, Mario Gomez-Blanco, Cameron N. Riviere, Pradeep Khosla

Pradeep K Khosla

An instrument for intraoperative sensing of surgeons’ hand tremor during vitreoretinal microsurgery has been developed. Real-time monitoring of tremor is useful to surgeons for purposes of training, adjustment of technique, monitoring of fatigue, and deciding when or whether to perform certain procedures. The instrument incorporates six inertial sensors (three accelerometers and three rate gyros), mounted at the back end of the handle, to detect translation and rotation in six degrees of freedom. The accelerometer data are integrated to obtain translational velocity, and the gyro data are integrated to determine the time-varying rotation matrix needed to transform the instrument motion to …