Surgical Robot Arm: Motion Scaling & Tremor Filtering

This simulator visualizes the two techniques that let teleoperated surgical robots turn an ordinary human hand into a sub-millimeter-precise instrument: motion scaling and tremor filtration. A multi-segment kinematic chain — modeled on manipulators like the da Vinci Surgical System — reaches from its cart toward a target incision point on a simplified patient body. The surgeon's simulated hand motion (a deliberate reach plus involuntary high-frequency tremor) is smoothed by an exponential low-pass filter and divided by an adjustable motion-scaling ratio before the arm's joints solve for the resulting instrument-tip position. A translucent marker traces what an unscaled, unfiltered instrument would do for comparison, so the effect of each control is directly visible at the tip.