Intelligent approach to Force/Position Control of Ultrasound-Guided Breast Biopsy Robotic System

Authors

  • Mohammad Afif Ayob ADvanced Mechatronics Research Group (ADMIRE), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia.
  • Wan Nurshazwani Wan Zakaria ADvanced Mechatronics Research Group (ADMIRE), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia.
  • Jamaludin Jalani Department of Electrical Engineering Technology, Faculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia.
  • Mohd Razali Md Tomari ADvanced Mechatronics Research Group (ADMIRE), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia.
  • Anis Azwani Muhd Suberi ADvanced Mechatronics Research Group (ADMIRE), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia.
  • Tee Kian Sek ADvanced Mechatronics Research Group (ADMIRE), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Parit Raja, Batu Pahat, Malaysia.
  • Nik Farhan Nik Fuad UKM Medical Centre, Jalan Yaacob Latif, Bandar Tun Razak, Cheras Kuala Lumpur,56000,Malaysia

Keywords:

Breast biopsy, Force/Position control, Robotic system, Ultrasound-Guided,

Abstract

Large deformations occur inside the breast whenever the biopsy needle is inserted during conventional ultrasound-guided breast biopsy procedure. Inconsistent force from manual handling of the ultrasound transducer makes maintaining the suspected lump in the ultrasound-imaging region challenging and further position the patient at discomfort. Hence, this research presents the development of force controller for an ultrasound-guided breast biopsy (UGBB) robotic system in the aims to alleviate said issues by maintaining low contact force on the breast. A variant of force controllers has been studied; proportional (P), proportional and integral (PI), PID, PI-Fuzzy, Fuzzy-PID (F-PID), and Fuzzy-PID using Lookup Table (F-LUT) controllers. Effect of external disturbance such as subject respiration is considered to see the reliability of each developed force/position control system. Based on the simulation results, F-PID force controller shows promising outcome with a marginal error of 0.33% during the disturbance period and no error when the disturbance is absent.

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Published

2017-11-30

How to Cite

Ayob, M. A., Wan Zakaria, W. N., Jalani, J., Md Tomari, M. R., Muhd Suberi, A. A., Sek, T. K., & Nik Fuad, N. F. (2017). Intelligent approach to Force/Position Control of Ultrasound-Guided Breast Biopsy Robotic System. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 9(3-7), 73–79. Retrieved from https://jtec.utem.edu.my/jtec/article/view/3078