Research on host-worker tremor suppression strategy based on the Kalman filter algorithm

Xuran Zheng; Congyu Sun; Mingyang Shi; Qinhe Zhang

doi:10.1117/12.2688856

18 July 2023 Research on host-worker tremor suppression strategy based on the Kalman filter algorithm

Xuran Zheng, Congyu Sun, Mingyang Shi, Qinhe Zhang

Proceedings Volume 12744, Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023); 127442F (2023) https://doi.org/10.1117/12.2688856
Event: Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023), 2023, Nanjing, China

Abstract

Due to the physiological shaking of the human hand during remote operation, there is a certain vibration phenomenon at the end of the robotic arm of the minimally invasive surgery robot, which affects the safety and stability of the surgery. A host-worker tremor suppression strategy based on Kalman filtering is proposed to realize the filtering of tremor signals by combining the conventional digital filtering algorithm and the Kalman filtering algorithm. Simulations and experiments were conducted for the tremor strategy. The results show that the physiological tremor signal is almost completely filtered, and the instability before tremor suppression is smoothly transitioned and corrected in the band after tremor suppression. The host-worker surgical robot's overall performance can be improved, the robotic arm operation can be more stable, and the tremor phenomenon at the robotic arm's end can be successfully suppressed.

Citation Download Citation

Xuran Zheng, Congyu Sun, Mingyang Shi, and Qinhe Zhang "Research on host-worker tremor suppression strategy based on the Kalman filter algorithm", Proc. SPIE 12744, Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023), 127442F (18 July 2023); https://doi.org/10.1117/12.2688856

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