Multi-step prediction of physiological tremor with random quaternion neurons for surgical robotics applications

• Main Authors: Wang, Yubo, Tatinati, Sivanagaraja, Adhikari, Kabita, Huang, Liyu, Nazarpour, Kianoush, Ang, Wei Tech, Veluvolu, Kalyana C.
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2018
• Subjects: Surgical Robotics; Physiological Tremor; DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/88364; http://hdl.handle.net/10220/45765
• Institution: Nanyang Technological University

Digital filters are employed in hand-held robotic instruments to separate the concomitant involuntary physiological tremor motion from the desired motion of micro-surgeons. Inherent phase-lag in digital filters induces phase distortion (time-lag/delay) into the separated tremor motion and it adverse...