Design and control of a MRI-compatible pneumatic needle puncture robot.
Comput Assist Surg (Abingdon)
; 24(sup2): 87-93, 2019 10.
Article
em En
| MEDLINE
| ID: mdl-31448960
ABSTRACT
Percutaneous needle puncture operation is widely used in the image-guided interventions, including biopsy and ablation. MRI guidance has the advantages of high-resolution soft tissue imaging and thermal monitoring during energy-based ablation. This paper proposes the design of a 5-DOF pneumatic needle puncture robot, with all the cylinders, sensors and structure material MRI-compatible. Also, a hybrid fuzzy-PID controller is designed for the pneumatic driven system to adjust the PID parameters adaptively. The experiment validation result shows that, compared with the traditional fix-parameter PID control, the proposed hybrid fuzzy-PID control has no overshoot, and the settle time/steady state error remains low even with increasing load. This proves that the hybrid fuzzy-PID control strategy can increases the positioning accuracy and robustness of the pneumatic driven needle puncture robot, which is significant for the safety of percutaneous needle puncture operation.
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Base de dados:
MEDLINE
Assunto principal:
Robótica
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Desenho de Equipamento
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Segurança de Equipamentos
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Imagem por Ressonância Magnética Intervencionista
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Agulhas
Limite:
Humans
Idioma:
En
Ano de publicação:
2019
Tipo de documento:
Article