Fuzzy PID based path tracking control of a 5-DOF needle-holding robot

摘要

In brachytherapy treatment of cancer, multiple radioactive seeds are implanted inside the cancer tumor by a surgical needle, and the locations of the seeds are dependent on the accurate placement of the needle at desired position inside the patient body. Therefore, needle placement is very important for the effectiveness of brachytherapy treatment. In this work, we propose design of Fuzzy-PID control system for a 5-DOF surgical robot to make the needle follow the desired trajectory to the cancer tumor. Numerical simulation using MALAB is developed to show the effectiveness of the proposed control system. Comparative evaluation with respect to PID controller are presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using the proposed control system.