Jiang Shan, Lou Jinlong, Yang Zhiyong, Dai Jiansheng, Yu Yan
Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China
Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China.
Proc Inst Mech Eng H. 2015 Sep;229(9):652-69. doi: 10.1177/0954411915599018.
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.
小核心乳腺癌的活检和近距离放射治疗一直是癌症治疗领域棘手的医学问题。本研究主要开发一种用于乳腺穿刺治疗的磁共振成像引导高精度机器人系统。首先，详细介绍了一种基于肌腱的5自由度手术机器人系统。接下来是机器人系统的运动学分析和动力学建模，其中使用拉格朗日方法建立数学动态模型，并使用集中参数肌腱模型识别肌腱鞘传输系统的非线性增益。基于动态模型，提出了一种具有摩擦补偿的自适应比例积分微分控制器用于精确位置控制。通过使用不同正弦输入信号的仿真，我们观察到在1/2πHz时的正弦跟踪误差为0.41毫米。最后，进行了肌腱鞘传输和针插入性能实验，结果表明在实验室环境中的插入精度为0.68毫米。
