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