Vision-based variable impedance control with oscillation observer for respiratory motion compensation during robotic...

Area of Science:

• Robotics
• Medical Engineering
• Control Systems

Background:

• Robotic needle insertion systems aim to reduce radiation exposure for patients and physicians.
• Patient respiratory motion poses a significant risk of injury during robotic needle-based procedures.

Purpose of the Study:

• To develop and evaluate a control scheme for robotic needle insertion systems that compensates for respiratory motion.
• To enhance patient safety during minimally invasive procedures.

Main Methods:

• A vision-based variable impedance control algorithm was developed to achieve zero applied forces and moments on the needle.
• An oscillation observer was integrated to guarantee robot stability and patient safety.
• Preliminary testing was conducted using a 7-DOF robot and a phantom model.

Main Results:

• The proposed control algorithm significantly reduced phantom damage caused by respiratory motion.
• The oscillation observer successfully ensured the stability of the robotic system.

Conclusions:

• The developed control scheme effectively compensates for respiratory motion in robotic needle insertion.
• This advancement enhances patient safety during needle-based procedures.