A Tremor Suppression Method for the Master–Follower Surgical Robot Manipulator Based on Kalman Filter Algorithm

Key Points

• The research aims to enhance surgical precision and safety by suppressing physiological tremors in robotic manipulators.
• Developed a master-follower robotic system using Kalman filter algorithms for tremor attenuation.
• Implemented real-time processing to adjust robotic movement based on detected tremors.
• Evaluated performance through simulations and clinical scenarios to assess effectiveness.
• Significant reduction in tremor amplitude during robotic manipulation.
• Improved accuracy and stability in surgical tasks compared to conventional methods.