Modelling and control of a five‐degrees‐of‐freedom pneumatically actuated magnetic resonance‐compatible robot. Issue 2 (26th July 2013)

• Record Type: Journal Article
• Authors: Jiang, Shan; Feng, Wenhao; Lou, Jinlong; Yang, Zhiyong; Liu, Jun; Yang, Jun
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 10:Issue 2(2014)
• Page Start: 170
• Page End: 179
• Publication Date: 2013-07-26
• Subjects: Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1524
• Languages: English
• ISSNs: 1478-5951

Abstract

<abstract abstract-type="main"> <title>Abstract</title> <sec id="rcs1524-sec-0001" sec-type="section"> <title>Background</title> <p>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.</p> </sec> <sec id="rcs1524-sec-0002" sec-type="section"> <title>Methods</title> <p>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.</p> </sec> <sec id="rcs1524-sec-0003" sec-type="section"> <title>Results</title> <p>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.</p> </sec> <sec id="rcs1524-sec-0004" sec-type="section"> <title>Conclusions</title> <p>The results demonstrated that the robotic system with the designed controller was effective in both position control and trajectory tracking. Copyright © 2013 John Wiley & Sons, Ltd.</p> </sec> </abstract>