%0 Journal Article
%T Tremor Estimation and Removal in Robot-Assisted Surgery Using Improved Enhanced Band-Limited Multiple Fourier Linear Combiner.
%A Wang W
%A Jia B
%A Ma J
%A Wang X
%A Song H
%J Int J Med Robot
%V 20
%N 4
%D 2024 Aug
%M 39092625
%F 2.483
%R 10.1002/rcs.2666
%X <B>BACKGROUND: </B>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.<BR><B>METHODS: </B>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.<BR><B>RESULTS: </B>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.<BR><B>CONCLUSIONS: </B>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.