The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control

Abstract

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.