Real time estimation and suppression of hand tremor for surgical robotic applications

  • Akhlesh Kumar
  • Sanjeev KumarEmail author
  • Ajeet Kaushik
  • Amod Kumar
  • J. S. Saini
Technical Paper


In this work, an algorithm was developed to record and suppress the physiological tremor present in the hands of surgeon doing robotic surgical procedure due to fatigue or otherwise. A prototype setup of master handle having six degree of freedom with a vibration motor was designed and fabricated to record the hand tremor. The work involved recording the composite simulated motion consisting of both voluntary motion of surgeon’s hand and associated involuntary motion of tremor in real time, determination of peak frequencies of both the motions and providing necessary information on the graphical user interface. The adaptive algorithm is capable to cancel out the involuntary motion from the recorded raw signal in real time. After filtration, only voluntary motion remains for further processing. The developed algorithm promises potential to make robotic surgery more precise and error free.



Authors are thankful to CSIR-Central Scientific Instruments Organization, Chandigarh, India for financial support and providing facilities to conduct the experimental work.

Author contributions

AK has contributed in experimental work and collected the data. SK and AK worked on design of experiment and carried out the analysis. AK and JSS participated in identifying the characteristics of recorded data and interpretation of results obtained.

Compliance with ethical standards

Conflict of interest

The authors declare no conflict of interest.


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2020

Authors and Affiliations

  1. 1.Deenbandhu Chhotu Ram University of Science and TechnologySonepatIndia
  2. 2.CSIR-Central Scientific Instruments OrganizationChandigarhIndia
  3. 3.Division of Sciences Art and Mathematics, Department of Natural SciencesFlorida Polytechnic UniversityLakelandUSA

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