Robotic Surgery: Tremor Filtering & Motion Scaling

This simulation renders the two-dimensional control loop at the heart of surgical telemanipulation: the surgeon's hand at the master controller traces a path that mixes deliberate motion with natural physiological tremor, an exponential low-pass filter strips out the fast tremor component, and the remaining intentional motion is divided by a motion-scaling ratio before it reaches the instrument tip. Adjust the scaling ratio, tremor amplitude and filter strength to see how each trades working volume against precision and lag — the exact mechanism that lets a robotic surgical system turn a surgeon's ordinary hand movements into sub-millimetre instrument motion.