Design and control of a MRI-compatible pneumatic needle puncture robot.

Journal: Computer assisted surgery (Abingdon, England)
PMID: 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.

Authors

  • Baoliang Zhao
    Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences , Shenzhen , China.
  • Yi Fu
    Department of Mechanical Engineering, Harbin Institute of Technology at Shenzhen , Shenzhen , China.
  • Yuanyuan Yang
    Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China.
  • Peng Zhang
    Key Laboratory of Macromolecular Science of Shaanxi Province, School of Chemistry & Chemical Engineering, Shaanxi Normal University, Xi'an, Shaanxi 710062, China.
  • Ying Hu
    Department of Ultrasonography, The First Affiliated Hospital, College of Medicine, Zhejiang University, Qingchun Road No. 79, Hangzhou, Zhejiang 310003, China.

Keywords

External Resources

Popular Topics
Recent Journals