SWT-BASED FORCE SENSOR DE-NOISING FOR THE NEUROSURGICAL ROBOT

When our proposed neurosurgical robot is applied, the neurosurgeon usually wants to sense the force on the remote site to operate on patients. The force signal analysis is of critical importance for neurosurgeons to perform stable, reliable, and safe operations. In this paper, based on the stationary wavelet transform (SWT), force information analysis and process is designed. Since force sampled by the JR3 sensor contains noise from the sensor and mechanical vibration when drilling, to smooth the force signal sent to the operator, SWT-based force information de-noising is proposed to reduce the noise significantly, especially for the force along the x and y axes. Simulations and experiments further verified the proposed research.