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

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

Zhao B,Fu Y,Yang Y,Zhang P,Hu Y

doi

10.1080/24699322.2019.1649067

subject

Has Abstract

pub_date

2019-10-01 00:00:00

pages

87-93

issue

sup2

issn

2469-9322

journal_volume

24

pub_type

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