Cho CN, Seo JH, Kim HR, Jung H, Kim KG. Vision-based variable impedance control with oscillation observer for respiratory motion compensation during robotic needle insertion: a preliminary test.
Int J Med Robot 2015;
11:502-11. [PMID:
25640414 DOI:
10.1002/rcs.1644]
[Citation(s) in RCA: 4] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/12/2014] [Revised: 11/12/2014] [Accepted: 12/23/2014] [Indexed: 12/19/2022]
Abstract
BACKGROUND
To reduce the radiation exposure of patients and physicians during needle-based procedures, robotic needle insertion systems have been widely developed. However, during robotic needle insertion, the respiratory motion of the patient can cause serious injury.
METHODS
A vision-based variable impedance control algorithm was introduced to compensate for the respiratory motion. The algorithm controls the robot so that the applied forces and moments on the needle are zero. Also, an oscillation observer was introduced to ensure patient safety. A preliminary test was performed using a seven degrees of freedom (7-DOF) robot and a phantom.
RESULT
It was found that the proposed algorithm greatly decreases damage to the phantom due to respiratory motion. Also, the proposed oscillation observer was able to ensure robot stability.
CONCLUSIONS
The proposed control scheme allows the robot to compensate for the respiratory motion to ensure patient safety during a needle-based procedure.
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