Biopsy and brachytherapy for small core breast cancer are always difficult medical problems in the field of cancer treatment. This research mainly develops a magnetic resonance imaging-guided high-precision robotic system for breast puncture treatment. First, a 5-degree-of-freedom tendon-based surgical robotic system is introduced in detail. What follows are the kinematic analysis and dynamical modeling of the robotic system, where a mathematic dynamic model is established using the Lagrange method and a lumped parameter tendon model is used to identify the nonlinear gain of the tendon-sheath transmission system. Based on the dynamical models, an adaptive proportional-integral-derivative controller with friction compensation is proposed for accurate position control. Through simulations using different sinusoidal input signals, we observe that the sinusoidal tracking error at 1/2π Hz is 0.41 mm. Finally, the experiments on tendon-sheath transmission and needle insertion performance are conducted, which show that the insertion precision is 0.68 mm in laboratory environment.
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 1/2π Hz is 0.2 mm and the needle tip positional precision of tracking a spatial arched curve remains less than 0.3 mm. Finally, experiments on tendon-sheath transmission and robot position tracking are conducted, which shows that the insertion precision is 0.67 mm in laboratory environment.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.