Impedance and admittance control for respiratory-motion compensation during robotic needle insertion - a preliminary test.

Abstract

Many robotic needle-biopsy systems have been developed to enhance the accuracy of needle-biopsy intervention. These systems can reduce the intervention time and the radiation exposure of clinicians. However, respiratory-motion compensation is needed to ensure the accuracy and efficiency of needle biopsy intervention. Human respiratory-motion data were acquired using three inertial measurement units (IMUs), and respiratory motion was simulated using the Stewart-Gough platform. Robotic needle intervention was performed using impedance and admittance control algorithms for respiratory-motion compensation using the Stewart-Gough platform and a gelatin phantom. The impedance and admittance control algorithms can be used to compensate for respiratory motion during robotic needle insertion. The admittance control algorithm exhibits better performance than the impedance control algorithm. The impedance and admittance control algorithms can be applied for respiratory-motion compensation during robotic needle insertion. However, further study is needed for them to become clinically feasible.