손 떨림 보정을 위한 홀 센서 기반의 휴대용 안과 수술 시스템

Abstract

This study presents a handheld microsurgical system to compensate for a surgeon's hand tremor during microsurgery. It introduces a hall sensor and one piezoelectric linear actuator to implement the micro-manipulator for closed-loop control. In the previous work, a SMART microsurgical system with an OCT sensor had some problems that damaged the eye and retina from the fragile fiber. This study presents a new micromanipulation technique with an external hall sensor. It can maintain the desired distance between the eye and the needle tip. Also, we conducted sensor value optimization and real-time tremor removal. The experimental results show an average error reduction of about 1430 % in non-activate mode.