Visual Measurement of Microsurgical Motion with Application to Robotic Augmentation

Hand tremor represents a significant problem in microsurgical applications, since high levels of accuracy are required for these procedures. Therefore various methods of tremor cancellation are an important area of study. The system investigated in this paper is the handheld tremor canceling system - Micron. An error analysis of the application of stereo vision based sensing for controlling the Micron instrument is presented.