TY - JOUR AU - Ayob, Mohammad Afif AU - Wan Zakaria, Wan Nurshazwani AU - Jalani, Jamaludin AU - Md Tomari, Mohd Razali AU - Muhd Suberi, Anis Azwani AU - Sek, Tee Kian AU - Nik Fuad, Nik Farhan PY - 2017/11/30 Y2 - 2024/03/28 TI - Intelligent approach to Force/Position Control of Ultrasound-Guided Breast Biopsy Robotic System JF - Journal of Telecommunication, Electronic and Computer Engineering (JTEC) JA - JTEC VL - 9 IS - 3-7 SE - Articles DO - UR - https://jtec.utem.edu.my/jtec/article/view/3078 SP - 73-79 AB - 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. ER -