%0 Journal Article
%T Design and control of a MRI-compatible pneumatic needle puncture robot
%A Baoliang Zhao
%A Peng Zhang
%A Yi Fu
%A Ying Hu
%A Yuanyuan Yang
%J Computer Assisted Surgery
%D 2019
%R https://doi.org/10.1080/24699322.2019.1649067
%X Abstract Percutaneous needle puncture operation is widely used in the image-guided interventions, including biopsy and ablation. MRI guidance has the advantages of high-resolution soft tissue imaging and thermal monitoring during energy-based ablation. This paper proposes the design of a 5-DOF pneumatic needle puncture robot, with all the cylinders, sensors and structure material MRI-compatible. Also, a hybrid fuzzy-PID controller is designed for the pneumatic driven system to adjust the PID parameters adaptively. The experiment validation result shows that, compared with the traditional fix-parameter PID control, the proposed hybrid fuzzy-PID control has no overshoot, and the settle time/steady state error remains low even with increasing load. This proves that the hybrid fuzzy-PID control strategy can increases the positioning accuracy and robustness of the pneumatic driven needle puncture robot, which is significant for the safety of percutaneous needle puncture operation
%U https://www.tandfonline.com/doi/full/10.1080/24699322.2019.1649067