Modelling and control of a five-degrees-of-freedom pneumatically actuated magnetic resonance-compatible robot
- Resource Type
- Academic Journal
- Authors
- Jiang, Shan; Feng, Wenhao; Lou, Jinlong; Yang, Zhiyong; Liu, Jun; Yang, Jun
- Source
- The International Journal of Medical Robotics and Computer Assisted Surgery. Jun 01, 2014 10(2):170-179
- Subject
- Language
- English
- ISSN
- 1478-5951
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. Copyright © 2013 John Wiley & Sons, Ltd.