The Role of Intercostal Nerve Block Combined with Puncture Surgery Robot Controlled by Fuzzy Proportion Integral Differential Algorithm under the Guidance of MRI Image in the Treatment of Lung Cancer.

Abstract Objective To explore the application of magnetic resonance imaging (MRI) information image-guided puncture intelligent surgical robot and robot combined with intercostal nerve block (INB) in the treatment of lung cancer. Method Firstly, the space compatibility and nuclear magnetic compatibility of nuclear magnetic scanner, as well as the application requirements of surgical robots were analyzed, and a series and parallel hybrid puncture surgical robot with compact structure and sufficient degrees of freedom was designed; then the kinematics of the robot was analyzed, the patient's entity coordinates were registered with the MRI scan image, and the robot control algorithm based on compound fuzzy proportion integral differential (PID) was designed. The role of INB in postoperative analgesia of lung cancer was analyzed and finally, the robot was simulated. Result The working space of the robot's needle tip was approximately 100 × 340 × 240mm3, which could cover the left or right lung of an adult. The reconstructed three-dimensional (3D) lung image could unify the needle tip position of the puncture robot with the 3D lung model in the same coordinate system. The time required for the composite fuzzy PID algorithm to reach the steady state was about 0.6 s, with the fastest adjustment speed, no overshoot and no static error. With the gradual increase of the load, the adjustment time remained unchanged. The positioning accuracy of the robot prototype during the linkage of four driving joints was 2.53 mm, the maximum error of the needle insertion of the puncture robot was 1.45 mm, and the average needle insertion error was 0.98 mm. Conclusion The overall design scheme of lung cancer puncture surgery robot designed in experiment is reasonable in structure and performance. Robot INB treatment of lung cancer can improve the accuracy of puncture surgery, and relieve the pain of patients while treating lung cancer.