A MRI-guided robot for neurosurgery: Design and control

摘要

In this paper the design of a novel ultrasonic motor (USM) actuated robot system and a new control method for automatically open-MRI-guided intervention for neurosurgery are presented. The targeted clinical applications of the proposed robot are based on invasive surgical procedures, such as biopsy and brachytherapy. A robot, composed of a Delta mechanism and a two-link serial manipulator, was designed to align and orientate the needles and was explained in detail. To automatically and accurately undertake the alignment and orientation of the needles throughout the neurosurgical procedures, a new control strategy combing the performance of fuzzy controller and PD controller is then proposed. The simulation results have shown that the proposed control system has perfect performances. A dynamic simulation and control is co-performed with ADAMStrade and Matlabtrade packages.