The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control
Joint Authors
Wang, Jin
Zeng, Chao
Huang, Jie
Guo, Jing
Liu, Yi
Liu, Chao
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-16
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Guo, Jing& Liu, Yi& Wang, Jin& Zeng, Chao& Huang, Jie& Liu, Chao. 2020. The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control. Complexity،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1142434
Modern Language Association (MLA)
Guo, Jing…[et al.]. The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control. Complexity No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1142434
American Medical Association (AMA)
Guo, Jing& Liu, Yi& Wang, Jin& Zeng, Chao& Huang, Jie& Liu, Chao. The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control. Complexity. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1142434
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1142434