Journal
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Volume 229, Issue 8, Pages 711-727Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0959651815581739
Keywords
Magnetic resonance imaging-compatible surgical robot; tendon-sheath transmission; dynamical modeling; fuzzy sliding mode control
Categories
Funding
- National Science Foundation of China [51175373]
- Education Program for New Century Excellent Talents [NCET-10-0625]
- Tianjin Municipal Science and Technology Commission [12ZCDZSY10600]
Ask authors/readers for more resources
This article mainly includes the developing, dynamical modeling and control of a tendon-based robot system. First, a 5-degree-of-freedom tendon-based magnetic resonance imaging-compatible robot for prostate needle insertion surgery is introduced briefly. What follows is the dynamical modeling of the robot system, where a mechanical dynamic model is established using the Lagrange method, and a lumped parameter tendon model is used to identify the nonlinear gain of the actuator. Based on the dynamical model, a fuzzy sliding mode control algorithm is proposed for accurate position control of the robot. Through simulations using different sinusoidal input signals, we observed that the sinusoidal tracking error at 1/2 pi Hz is 0.2mm and the needle tip positional precision of tracking a spatial arched curve remains less than 0.3mm. Finally, experiments on tendon-sheath transmission and robot position tracking are conducted, which shows that the insertion precision is 0.67mm in laboratory environment.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available