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...
Main Authors: | , , , , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
IEEE
2018-01-01
|
Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/8419248/ |
id |
doaj-dd9c20853cfd4d53b04dfd769f06073a |
---|---|
record_format |
Article |
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/ |
work_keys_str_mv |
AT yubowang multisteppredictionofphysiologicaltremorwithrandomquaternionneuronsforsurgicalroboticsapplications AT sivanagarajatatinati multisteppredictionofphysiologicaltremorwithrandomquaternionneuronsforsurgicalroboticsapplications AT kabitaadhikari multisteppredictionofphysiologicaltremorwithrandomquaternionneuronsforsurgicalroboticsapplications AT liyuhuang multisteppredictionofphysiologicaltremorwithrandomquaternionneuronsforsurgicalroboticsapplications AT kianoushnazarpour multisteppredictionofphysiologicaltremorwithrandomquaternionneuronsforsurgicalroboticsapplications AT weitechang multisteppredictionofphysiologicaltremorwithrandomquaternionneuronsforsurgicalroboticsapplications AT kalyanacveluvolu multisteppredictionofphysiologicaltremorwithrandomquaternionneuronsforsurgicalroboticsapplications |
_version_ |
1724193572926783488 |