Tremor Reduction of the Master Arm for Master-Slave Surgical Robot

For the vibrating movement of the master arm in practical operation, a high-precision accelerometer is used to collect the tremor signals of different people at several different times in a day, and the signal characteristics are analyzed. Then, an improved band-limited multiple Fourier linear combiner is designed according to the prior information of tremor. The combiner uses the least mean square algorithm to fit the tremor, which is based on a baseband signal with a specific interval covering the frequency band of the tremor signal. Such a combiner can compensate the effects of tremor during surgical operations. For frequency bands with higher amplitude in the tremor signal, a dense division method for the frequency band in the combiner is proposed. The experimental results show that the compensation effect of the improved band-limited multiple Fourier linear combiner is about 10% higher than that of the standard model.