Multi-Step Prediction of Physiological Tremor With Random Quaternion Neurons for Surgical Robotics Applications

Digital filters are employed in hand-held robotic instruments to separate the concomitant involuntary physiological tremor motion from the desired motion of micro-surgeons. Inherent phase-lag in digital filters induces phase distortion (time-lag/delay) into the separated tremor motion and it adverse...

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Main Authors: Yubo Wang, Sivanagaraja Tatinati, Kabita Adhikari, Liyu Huang, Kianoush Nazarpour, Wei Tech Ang, Kalyana C. Veluvolu
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/8419248/
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spelling doaj-dd9c20853cfd4d53b04dfd769f06073a2021-03-29T21:06:27ZengIEEEIEEE Access2169-35362018-01-016422164222610.1109/ACCESS.2018.28523238419248Multi-Step Prediction of Physiological Tremor With Random Quaternion Neurons for Surgical Robotics ApplicationsYubo Wang0Sivanagaraja Tatinati1Kabita Adhikari2Liyu Huang3Kianoush Nazarpour4Wei Tech Ang5Kalyana C. Veluvolu6https://orcid.org/0000-0003-1542-8627School of Life Science and Technology, Xidian University, Xi’an, ChinaSchool of Electrical and Electronics Engineering, Nanyang Technological University, SingaporeSchool of Electrical and Electronic Engineering, Newcastle University, Newcastle upon Tyne, U.K.School of Life Science and Technology, Xidian University, Xi’an, ChinaSchool of Electrical and Electronic Engineering and the Institute of Neuroscience, Newcastle University, Newcastle upon Tyne, U.K.School of Mechanical and Aerospace Engineering, Nanyang Technological University, SingaporeSchool of Electronics Engineering, College of IT Engineering, Kyungpook National University, Daegu, South KoreaDigital filters are employed in hand-held robotic instruments to separate the concomitant involuntary physiological tremor motion from the desired motion of micro-surgeons. Inherent phase-lag in digital filters induces phase distortion (time-lag/delay) into the separated tremor motion and it adversely affects the final tremor compensation. Owing to the necessity of digital filters in hand-held instruments, multi-step prediction of physiological tremor motion is proposed as a solution to counter the induced delay. In this paper, a quaternion variant for extreme learning machines (QELMs) is developed for multi-step prediction of the tremor motion. The learning paradigm of the QELM integrates the identified underlying relationship from 3-D tremor motion in the Hermitian space with the fast learning merits of ELMs theories to predict the tremor motion for a known horizon. Real tremor data acquired from micro-surgeons and novice subjects are employed to validate the QELM for various prediction horizons in-line with the delay induced by the order of digital filters. Prediction inferences underpin that the QELM method elegantly learns the cross-dimensional coupling of the tremor motion with random quaternion neurons and hence obtained significant improvement in prediction performance at all prediction horizons compared with existing methods.https://ieeexplore.ieee.org/document/8419248/Surgical roboticsphysiological tremormulti-step predictionrandom quaternion neuronsextreme learning machines
collection DOAJ
language English
format Article
sources DOAJ
author Yubo Wang
Sivanagaraja Tatinati
Kabita Adhikari
Liyu Huang
Kianoush Nazarpour
Wei Tech Ang
Kalyana C. Veluvolu
spellingShingle Yubo Wang
Sivanagaraja Tatinati
Kabita Adhikari
Liyu Huang
Kianoush Nazarpour
Wei Tech Ang
Kalyana C. Veluvolu
Multi-Step Prediction of Physiological Tremor With Random Quaternion Neurons for Surgical Robotics Applications
IEEE Access
Surgical robotics
physiological tremor
multi-step prediction
random quaternion neurons
extreme learning machines
author_facet Yubo Wang
Sivanagaraja Tatinati
Kabita Adhikari
Liyu Huang
Kianoush Nazarpour
Wei Tech Ang
Kalyana C. Veluvolu
author_sort Yubo Wang
title Multi-Step Prediction of Physiological Tremor With Random Quaternion Neurons for Surgical Robotics Applications
title_short Multi-Step Prediction of Physiological Tremor With Random Quaternion Neurons for Surgical Robotics Applications
title_full Multi-Step Prediction of Physiological Tremor With Random Quaternion Neurons for Surgical Robotics Applications
title_fullStr Multi-Step Prediction of Physiological Tremor With Random Quaternion Neurons for Surgical Robotics Applications
title_full_unstemmed Multi-Step Prediction of Physiological Tremor With Random Quaternion Neurons for Surgical Robotics Applications
title_sort multi-step prediction of physiological tremor with random quaternion neurons for surgical robotics applications
publisher IEEE
series IEEE Access
issn 2169-3536
publishDate 2018-01-01
description Digital filters are employed in hand-held robotic instruments to separate the concomitant involuntary physiological tremor motion from the desired motion of micro-surgeons. Inherent phase-lag in digital filters induces phase distortion (time-lag/delay) into the separated tremor motion and it adversely affects the final tremor compensation. Owing to the necessity of digital filters in hand-held instruments, multi-step prediction of physiological tremor motion is proposed as a solution to counter the induced delay. In this paper, a quaternion variant for extreme learning machines (QELMs) is developed for multi-step prediction of the tremor motion. The learning paradigm of the QELM integrates the identified underlying relationship from 3-D tremor motion in the Hermitian space with the fast learning merits of ELMs theories to predict the tremor motion for a known horizon. Real tremor data acquired from micro-surgeons and novice subjects are employed to validate the QELM for various prediction horizons in-line with the delay induced by the order of digital filters. Prediction inferences underpin that the QELM method elegantly learns the cross-dimensional coupling of the tremor motion with random quaternion neurons and hence obtained significant improvement in prediction performance at all prediction horizons compared with existing methods.
topic Surgical robotics
physiological tremor
multi-step prediction
random quaternion neurons
extreme learning machines
url https://ieeexplore.ieee.org/document/8419248/
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