Design and control of a MRI-compatible pneumatic needle puncture robot
| Autor: | Baoliang Zhao, Yi Fu, Yuanyuan Yang, Peng Zhang, Ying Hu |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | Computer Assisted Surgery, Vol 24, Iss 0, Pp 87-93 (2019) |
| Druh dokumentu: | article |
| ISSN: | 2469-9322 24699322 |
| DOI: | 10.1080/24699322.2019.1649067 |
| Popis: | 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. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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