Journal
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE
Volume 229, Issue 9, Pages 652-669Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0954411915599018
Keywords
Minimally invasive breast surgery; magnetic resonance-guided surgical robot; tendon-sheath transmission; friction compensation
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Funding
- National Science Foundation of China [51175373]
- Education Program for New Century Excellent Talents [NCET-10-0625]
- Key Technology and Development Program of the Tianjin Municipal Science and Technology Commission [14ZCDZGX00490]
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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 1/2 Hz is 0.41mm. Finally, the experiments on tendon-sheath transmission and needle insertion performance are conducted, which show that the insertion precision is 0.68mm in laboratory environment.
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