Design, analysis and control of a novel tendon-driven magnetic resonance-guided robotic system for minimally invasive breast surgery

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine
Shan JiangYan Yu

Abstract

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 1/2π Hz is 0.41 mm. Finally, the experiments on tendon-sheath transmission and needle insertion performance are conducted, which show that the insertion precision is 0.68 mm in laboratory environment.

References

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May 24, 2007·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Z Nawrat, P Kostka
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Oct 15, 2014·The International Journal of Robotics Research·Bo YangJaydev P Desai

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Citations

Feb 15, 2017·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Yunpeng YangYuan Bian
Nov 2, 2019·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Hansoul KimDong-Soo Kwon
Dec 13, 2019·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Wenxuan LiuDaguang Zhang
Sep 3, 2020·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Yao WangGuang-Biao Chen
Aug 3, 2019·Annals of Biomedical Engineering·Pankaj KulkarniSang-Eun Song

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Methods Mentioned

BETA
biopsy
nuclear magnetic resonance
IGBT
biopsy or

Software Mentioned

Simulink Toolbox
NNPID
MATLAB
Simulink
IGBT

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