Journal
COMPUTER ASSISTED SURGERY
Volume 24, Issue -, Pages 87-93Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/24699322.2019.1649067
Keywords
MRI compatibility; pneumatic driven; needle puncture robot; hybrid fuzzy-PID control
Categories
Funding
- National Natural Science Foundation of China [61803362]
- Key Fundamental Research Program of Shenzhen [JCYJ20160608153218487, JCYJ20170413162256793]
- Shenzhen Peacock Plan [KQTD2016113010571019]
- Shenzhen Key Laboratory Project [ZDSYS201707271637577]
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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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