Wavelet transformation based tremor removal

摘要

One of the main problems in minimum invasive robotic surgery is effective control of the tracking error due to hand tremor. In this paper we review issues of hand tremor using surgical robot and propose a novel technique using wavelet transform with minimum coefficients to get a tremor free signal. In the parameter learning phase the error is minimized with minimum wavelet compression and as time progress the coefficients get stored to calculate the unknown parameters. Simultaneously the unused coefficients will be discarded to remove the data redundancy for faster processing and real time tracking.