Abstract
This article introduces the design and control performance of a lightweight, flexible, 4-degree-of-freedom (DOF) parallel robot for percutaneous biopsy guided by computed tomography (CT). At present, the CT guidance method allows surgeons to quickly locate the lesion area; however, it is necessary to manually adjust the position of the puncture needle for insertion. In this paper, a three-dimensional assisted method is used to infer the control input required to reach the target point through the kinematic model of the robot. A Kalman filter is designed to estimate model parameters and obtain a more accurate model. To further improve the control performance of the robot system, a model-based control method—the model predictive control (MPC) controller—is used to increase the accuracy of the needle position in the developed robot system. In this way, medical efficiency is improved while reducing the burden on the surgeon.
Highlights
In the development of a surgical robot, another major problem is the network system in the remote operating system, which is caused by long distance or wireless link [23,24,25,26,27]
We introduced a surgical robotic puncture needle positioning platform that can improve the efficiency of biopsy
Kinematic analysis of the platform illustrates that the puncture needle can work in the working space through multiple angles that can be obtained by decoupling the robotic kinematic
Summary
The modeling process of surgical robot kinematics will be described. e robotic kinematic is analyzed for the establishment of model parameter estimator and MPC controller. A suitable kinematics model is constructed by analyzing the mechanical structure of the parallel puncture needle robot [40]. E surgical robot is a parallel structure; there is a coupling relationship between the control inputs To address this problem, constraints are first defined to decouple the kinematic model. − η ≤ xt, yt ≤ η, and s.t. where η is the largest distance that the tip of the puncture needle can reach when only block-a is in motion; xt and yt are the lesion’s target point coordinates marked by the surgeon. The complete solution of the kinematic model of the surgical robot has been obtained by equations (14) and (19). The complete solution of the kinematic model of the surgical robot has been obtained by equations (14) and (19). e corresponding motor control angle can be obtained through the lesion area marked by the surgeon
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