Modeling and control of a high-precision tendon-based magnetic resonance imaging

Abstract

This article mainly includes the developing, dynamical modeling and control of a tendon-based robot system. First, a 5-degree-of-freedom tendon-based magnetic resonance imaging–compatible robot for prostate needle insertion surgery is introduced briefly. What follows is the dynamical modeling of the robot system, where a mechanical dynamic model is established using the Lagrange method, and a lumped parameter tendon model is used to identify the nonlinear gain of the actuator. Based on the dynamical model, a fuzzy sliding mode control algorithm is proposed for accurate position control of the robot. Through simulations using different sinusoidal input signals, we observed that the sinusoidal tracking error at 1/2π Hz is 0.2 mm and the needle tip positional precision of tracking a spatial arched curve remains less than 0.3 mm. Finally, experiments on tendon-sheath transmission and robot position tracking are conducted, which shows that the insertion precision is 0.67 mm in laboratory environment.

Keywords

Magnetic resonance imaging–compatible surgical robot tendon-sheath transmission dynamical modeling fuzzy sliding mode control

Get full access to this article

View all access options for this article.

References

Phee

Xiao

Yuen

. Control and safety aspects of medical robots for treatment of diseases of the prostate. Proc I MechE, Part I: J Systems and Control Engineering 2003; 217(3): 155–167.

Elhawary

Tse

ZTH

Hamed

. The case for MR-compatible robotics: a review of the state of the art. Int J Med Robot Comp 2008; 4(2): 105–113.

Dai

. Surgical robotics and its development and progress. Robotica 2010; 28: 161.

Gassert

Moser

Burdet

. MRI/fMRI-compatible robotic system with force feedback for interaction with human motion. IEEE: ASME T Mech 2006; 11(2): 216–224.

Yamamoto

Ichiyanagi

Higuchi

. Evaluation of MR-compatibility of electrostatic linear motor. In: Proceedings of the 2005 IEEE international conference on robotics and automation (ICRA 2005), Barcelona, 18–22 April 2005, pp. 3658–3663. New York: IEEE.

Vogan

Wingert

Plante

. Manipulation in MRI devices using electrostrictive polymer actuators: with an application to reconfigurable imaging coils. In: Proceedings of the 2004 IEEE international conference on robotics and automation (ICRA 2004), New Orleans, LA, 26 April–1 May 2004, vol. 3, pp. 2498–2504. New York: IEEE.

Madhani

Niemeyer

Salisbury

Jr . The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery. In: Proceedings of the 1998 IEEE/RSJ international conference on intelligent robots and systems, Victoria, BC, Canada, 13–17 October 1998, vol. 2, pp. 936–944. New York: IEEE.

Schurr

Buess

Neisius

. Robotics and telemanipulation technologies for endoscopic surgery. Surg Endosc 2000; 14(4): 375–381.

Lum

MJH

Trimble

Rosen

. Multidisciplinary approach for developing a new minimally invasive surgical robotic system. In: Proceedings of the first IEEE/RAS-EMBS international conference on biomedical robotics and biomechatronics, 2006 (BioRob 2006), Pisa, 20–22 February 2006, pp. 841–846. New York: IEEE.

10.

Nawrat

Kostka

. Polish cardio-robot “Robin Heart.” System description and technical evaluation. Int J Med Robot Comp 2006; 2(1): 36–44.

11.

Cavusoglu

Williams

Tendick

. Robotics for telesurgery: second generation Berkeley/UCSF laparoscopic telesurgical workstation and looking towards the future applications. Ind Robot 2003; 30(1): 22–29.

12.

Agrawal

Peine

Yao

. Modeling of transmission characteristics across a cable-conduit system. IEEE T Robot 2010; 26(5): 914–924.

13.

Palli

Borghesan

Melchiorri

. Modeling, identification, and control of tendon-based actuation systems. IEEE T Robot 2012; 28(2): 277–290.

14.

Abdallah

Platt

Wampler

. Decoupled torque control of tendon-driven fingers with tension management. Int J Robot Res 2013; 32(2): 247–258.

15.

Tjahjowidodo

Lau

MWS

. Dynamic friction-based force feedback for tendon-sheath mechanism in notes system. Int J Computer Electr Eng 2014; 6(3): 252–258.

16.

Wang

Sun

Phee

. Haptic feedback and control of a flexible surgical endoscopic robot. Comput Meth Prog Bio 2013; 112(2): 260–271.

17.

Fischer

Iordachita

DiMaio

. Design of a robot for transperineal prostate needle placement in MRI scanner. In: Proceedings of the 2006 IEEE international conference on mechatronics, Budapest, 3–5 July 2006, pp. 592–597. New York: IEEE.

18.

Hungr

Troccaz

Zemiti

. Design of an ultrasound-guided robotic brachytherapy needle-insertion system. In: Proceedings of the 2009 annual international conference of the IEEE engineering in medicine and biology society (EMBC 2009), Minneapolis, MN, 3–6 September 2009, pp. 250–253. New York: IEEE.

19.

Spong

Hutchinson

Vidyasagar

. Robot modeling and control. New York: John Wiley & Sons, 2006.

20.

Kaneko

Wada

Maekawa

. A new consideration on tendon-tension control system of robot hands. In: Proceedings of the 1991 IEEE international conference on robotics and automation, Sacramento, CA, 9–11 April 1991, pp. 1028–1033. New York: IEEE.

21.

Wang

Rad

Chan

. Indirect adaptive fuzzy sliding mode control: part I: fuzzy switching. Fuzzy Set Syst 2001; 122(1): 21–30.

Modeling and control of a high-precision tendon-based magnetic resonance imaging–compatible surgical robot

Abstract

Keywords

Get full access to this article

References