The Design and Control of Novel Needle Position Robotic System with Motion Uncertainties

The robotic system have been widely used in many scenarios, especially been used in the operating room at the past decades. Needle based pervutaneous interventions as one of the surgical applications, have attracted much attentions from both engineering and surgical communities. However, the current robotic system are normally too cumbersome and hard to the used by clinicians directly into the operating room. A light-weighted robotic system with intuitive control approach to perform autonomous surgical tasks is desired to better benefit the surgical procedures. In this paper, we designed a novel light-weighted robotic assisted needle position system which can realize the needle position and orientation in the operating room. In order to further improve the performance of the developed robotic system considering motion uncertainties of the mechanical design, a PID controller is utilized to improve the accuracy of the needle position in the developed robotic system. Thus more intuitive control and operation of the needle position can be achieved within the proposed robotic system and control framework.