The international journal of medical robotics + computer assisted surgery : MRCAS · 2026
A Tremor Suppression Method for the Master-Follower Surgical Robot Manipulator Based on Kalman Filter Algorithm.
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Zhang Tanjing, Sun Congyu, Zhou Xianzheng, Chen Yimiao, Yue Xiaoming, Bi Jianping
Аннотация
BACKGROUND: Master follower surgical robotic systems are widely used in invasive procedures but remain vulnerable to end effector tremor transmitted from the operator's physiological tremor, reducing precision.
METHODS: Physiological tremor was characterised with a three-dimensional optical motion capture system and integrated into master follower control strategy enhanced with Kalman filter based tremor suppression algorithm. The method was validated on a custom platform using 24 predefined motion trajectories executed via a force feedback haptic master and robotic slave manipulator.
RESULTS: Physiological tremor exhibited amplitudes that did not exceed 1 mm and dominant frequencies within 5-15 Hz. Across all 24 motion sets, suppression significantly reduced in majority of cases standard deviations of end-effector velocity and acceleration and removed high-frequency components while preserving smooth motion.
CONCLUSIONS: The Kalman filter based master follower tremor suppression strategy provides accurate and effective attenuation of physiological tremors, enhancing the precision, stability and operational safety of surgical robotic manipulation.
METHODS: Physiological tremor was characterised with a three-dimensional optical motion capture system and integrated into master follower control strategy enhanced with Kalman filter based tremor suppression algorithm. The method was validated on a custom platform using 24 predefined motion trajectories executed via a force feedback haptic master and robotic slave manipulator.
RESULTS: Physiological tremor exhibited amplitudes that did not exceed 1 mm and dominant frequencies within 5-15 Hz. Across all 24 motion sets, suppression significantly reduced in majority of cases standard deviations of end-effector velocity and acceleration and removed high-frequency components while preserving smooth motion.
CONCLUSIONS: The Kalman filter based master follower tremor suppression strategy provides accurate and effective attenuation of physiological tremors, enhancing the precision, stability and operational safety of surgical robotic manipulation.