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Int J Med Robot. 2014 Jun;10(2):170-9. doi: 10.1002/rcs.1524. Epub 2013 Jul 26.

Modelling and control of a five-degrees-of-freedom pneumatically actuated magnetic resonance-compatible robot.

Author information

1
Key Laboratory of Mechanism and Equipment Design of the Ministry of Education, Tianjin University, People's Republic of China.

Abstract

BACKGROUND:

Magnetic resonance imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. This paper introduces a pneumatically actuated surgical robotic system for prostatic interventions under MRI guidance.

METHODS:

A mechanical dynamics model was established using the Lagrange method and simulated using MATLAB software. A pneumatic actuator model was built through the use of system identification, and stability analysis was proposed based on the Nyquist criterion. In addition, a proportional-integral-derivative controller was implemented on the robot for accurate position control.

RESULTS:

Simulation results showed that the steady-state error of a step response was 0.3 mm and the tracking error of a 1.0 Hz sinusoidal response was 1.5 mm. Experimental results showed that the insertion precision was 0.72 mm in the general laboratory environment.

CONCLUSIONS:

The results demonstrated that the robotic system with the designed controller was effective in both position control and trajectory tracking.

KEYWORDS:

MRI guidance; PID controller; actuator model; dynamics model; prostatic interventions; surgical robotics

PMID:
23893561
DOI:
10.1002/rcs.1524
[Indexed for MEDLINE]
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