Abstract：
BACKGROUND: During a robot-assisted minimally invasive surgery, hand tremors in a surgeon\'s manipulation of the master manipulator can cause vibrations of the slave surgical instruments.
METHODS: This letter addresses this problem by proposing an improved Enhanced Band-Limited Multiple Linear Fourier Combiner (E-BMFLC) algorithm for filtering the physiological tremor signals of a surgeon\'s hand. The proposed method uses the amplitude of the input signal to adapt the learning rate and a dense division of the combiner bands for the higher amplitude bands of the tremor signals.
RESULTS: By using the proposed improved E-BMFLC algorithm, the compensation accuracy can be improved by 4.5%-8.9%, as well as a spatial position error of less than 1 mm.
CONCLUSIONS: The results show that among all filtering methods, the improved E-BMFLC filtering method has the highest number of successful experiments and the lowest experimental time.
METHODS: This letter addresses this problem by proposing an improved Enhanced Band-Limited Multiple Linear Fourier Combiner (E-BMFLC) algorithm for filtering the physiological tremor signals of a surgeon\'s hand. The proposed method uses the amplitude of the input signal to adapt the learning rate and a dense division of the combiner bands for the higher amplitude bands of the tremor signals.
RESULTS: By using the proposed improved E-BMFLC algorithm, the compensation accuracy can be improved by 4.5%-8.9%, as well as a spatial position error of less than 1 mm.
CONCLUSIONS: The results show that among all filtering methods, the improved E-BMFLC filtering method has the highest number of successful experiments and the lowest experimental time.
摘要：
背景：在机器人辅助的微创手术中，外科医生操纵主操纵器时的手震颤会导致从属手术器械的振动。
方法：这封信通过提出一种改进的增强型带限多线性傅立叶组合器（E-BMFLC）算法来解决这个问题，该算法用于过滤外科医生手的生理震颤信号。所提出的方法使用输入信号的幅度来适应学习速率和针对震颤信号的较高幅度频带的组合器频带的密集划分。
结果：通过使用提出的改进的E-BMFLC算法，补偿精度可提高4.5%-8.9%，以及小于1毫米的空间位置误差。
结论：结果表明，在所有过滤方法中，改进的E-BMFLC滤波方法实验成功次数最多,实验时间最少。
方法：这封信通过提出一种改进的增强型带限多线性傅立叶组合器（E-BMFLC）算法来解决这个问题，该算法用于过滤外科医生手的生理震颤信号。所提出的方法使用输入信号的幅度来适应学习速率和针对震颤信号的较高幅度频带的组合器频带的密集划分。
结果：通过使用提出的改进的E-BMFLC算法，补偿精度可提高4.5%-8.9%，以及小于1毫米的空间位置误差。
结论：结果表明，在所有过滤方法中，改进的E-BMFLC滤波方法实验成功次数最多,实验时间最少。
