| 摘要 |
The invention relates to an instrument for the manipulation of fine structures which detects trembling of the hand, which it compensates by countermovements of the tip of the instrument. A possible principle area of application is in microsurgery, as the activities carried out there can be obstructed by the trembling of the hand of the operator. Trembling of the hand is detected by movement sensors, by repeated analysis of the position of the part (1) of the instrument held by the hand, or by deriving electromyographic signals from the operator's forearm. Intentional and unintentional movements are distinguished from each other by one or more criteria, such as amplitude, speed, frequency and direction of the movement. In order to compensate undesired movements, signals are sent to an arrangement of actors (3), which, at the mobile part (4) of the instrument, cause deviations which compensate the hand trembling at the tip of the tool. When the instrument is used as a needle holder in surgery, the actors (3) can also be controled in such a way on the push of a button that they facilitate, by oscillation, penetration of the sewing needle into the object being treated. |
