Recognition and Filtering of Tremor Signals for Vascular Interventional Surgical Robot

摘要

During the operation of vascular intervention surgery, the surgeon may cause an involuntary tremor of hand due to a long time operation. However, during the actual surgical operation, when the surgeon performs complicated operations on same vascular area (such as selecting a blood vessel and pushing the catheter/guide wire into the thrombus), he needs to actively perform tremor to achieve the catheter/guidewire tremor in order to pass the catheter/guidewire. It is difficult to push or select the part of the blood vessel. This article is to eliminate the tremor of the operator's hand, and accurately identify the tremor signal in the signal through a support vector machine (SVM). The signal is filtered after identification, so that the signal received by the manipulator arm during the operation of the guide wire of the surgical robot does not contain the tremor signal This paper verifies the performance of tremor suppression algorithm design experiments and evaluates the algorithm as a whole. The results show that the algorithm has good tremor recognition and suppression effect.