磁共振兼容气动穿刺机器人的设计与控制

IF 1.5 4区医学 Q3 SURGERY

Computer Assisted Surgery Pub Date : 2019-08-26 DOI:10.1080/24699322.2019.1649067

Baoliang Zhao, Y. Fu, Yuanyuan Yang, Peng Zhang, Ying Hu

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引用次数: 5

摘要

摘要经皮穿刺术广泛应用于图像引导下的介入治疗，包括活检和消融。MRI引导在基于能量的消融过程中具有高分辨率软组织成像和热监测的优势。本文提出了一种五自由度气动穿刺机器人的设计，该机器人的所有气缸、传感器和结构材料MRI都兼容。针对气动驱动系统，设计了一种混合模糊PID控制器，对PID参数进行自适应调节。实验验证结果表明，与传统的定参数PID控制相比，所提出的混合模糊PID控制没有超调，即使在负载增加的情况下，稳定时间/稳态误差也很低。这证明了混合模糊PID控制策略可以提高气动穿刺机器人的定位精度和鲁棒性，对经皮穿刺操作的安全性具有重要意义。

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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.

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来源期刊

Computer Assisted Surgery Medicine-Surgery

CiteScore

2.30

自引率

0.00%

发文量

审稿时长

10 weeks

期刊介绍： omputer Assisted Surgery aims to improve patient care by advancing the utilization of computers during treatment; to evaluate the benefits and risks associated with the integration of advanced digital technologies into surgical practice; to disseminate clinical and basic research relevant to stereotactic surgery, minimal access surgery, endoscopy, and surgical robotics; to encourage interdisciplinary collaboration between engineers and physicians in developing new concepts and applications; to educate clinicians about the principles and techniques of computer assisted surgery and therapeutics; and to serve the international scientific community as a medium for the transfer of new information relating to theory, research, and practice in biomedical imaging and the surgical specialties. The scope of Computer Assisted Surgery encompasses all fields within surgery, as well as biomedical imaging and instrumentation, and digital technology employed as an adjunct to imaging in diagnosis, therapeutics, and surgery. Topics featured include frameless as well as conventional stereotactic procedures, surgery guided by intraoperative ultrasound or magnetic resonance imaging, image guided focused irradiation, robotic surgery, and any therapeutic interventions performed with the use of digital imaging technology.