A Novel Tremor Suppression Method for Endovascular Interventional Robotic Systems

With the development and popularization of interventional vascular surgery, various of endovascular interventional robots are rising. For safety property of master-slave interventional robotic system, operational hand tremor has a serious impact on success rate and accuracy of the robot-assisted surgery. This paper proposes a novel method based on active restraint and passive modification for tremor suppression in robot-assisted system. Hand tremor can be restricted to a allowable safe operation range by active restraint part. Then, a hybrid filtering strategy consisted of median average filter, amplitude limiter filter and exponential smoothing filter is used to reduce sampling bias and improve signal interference in passive modification part. The simulation results and comparative experiments indicate that the proposed method is capable of suppressing hand tremor effectively for burst tremor and regular tremor under the operation of surgeon. In addition, the proposed method is also instructive for the mechanical suppression produced by connected components in slave side.