期刊
出版社
WILEY
DOI: 10.1002/rcs.1795
关键词
admittance control; biopsy; impedance control; respiratory-motion compensation; robotic needle insertion; Stewart-Gough platform
类别
资金
- National Research Foundation of Korea [2013R1A1A2009742]
- National Cancer Center [NCC1610050-1]
- National Research Foundation of Korea [2013R1A1A2009742] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Background Many robotic needle-biopsy systems have been developed to enhance the accuracy of needle-biopsy intervention. These systems can reduce the intervention time and the radiation exposure of clinicians. However, respiratory-motion compensation is needed to ensure the accuracy and efficiency of needle biopsy intervention. Methods Human respiratory-motion data were acquired using three inertial measurement units (IMUs), and respiratory motion was simulated using the Stewart-Gough platform. Robotic needle intervention was performed using impedance and admittance control algorithms for respiratory-motion compensation using the Stewart-Gough platform and a gelatin phantom. Results The impedance and admittance control algorithms can be used to compensate for respiratory motion during robotic needle insertion. The admittance control algorithm exhibits better performance than the impedance control algorithm. Conclusions The impedance and admittance control algorithms can be applied for respiratory-motion compensation during robotic needle insertion. However, further study is needed for them to become clinically feasible.
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