Intelligent approach to Force/Position Control of Ultrasound-Guided Breast Biopsy Robotic System
Intelligent approach to Force/Position Control of Ultrasound-Guided Breast Biopsy Robotic System
- New search for: Ayob, Mohammad Afif
- New search for: Wan Zakaria, Wan Nurshazwani
- New search for: Jalani, Jamaludin
- New search for: Md Tomari, Mohd Razali
- New search for: Muhd Suberi, Anis Azwani
- New search for: Sek, Tee Kian
- New search for: Nik Fuad, Nik Farhan
- New search for: Ayob, Mohammad Afif
- New search for: Wan Zakaria, Wan Nurshazwani
- New search for: Jalani, Jamaludin
- New search for: Md Tomari, Mohd Razali
- New search for: Muhd Suberi, Anis Azwani
- New search for: Sek, Tee Kian
- New search for: Nik Fuad, Nik Farhan
- New search for: Ministry of Education and Universiti Tun Hussein Onn Malaysia
Large deformations occur inside the breast whenever the biopsy needle is inserted during conventional ultrasound-guided breast biopsy procedure. Inconsistent force from manual handling of the ultrasound transducer makes maintaining the suspected lump in the ultrasound-imaging region challenging and further position the patient at discomfort. Hence, this research presents the development of force controller for an ultrasound-guided breast biopsy (UGBB) robotic system in the aims to alleviate said issues by maintaining low contact force on the breast. A variant of force controllers has been studied; proportional (P), proportional and integral (PI), PID, PI-Fuzzy, Fuzzy-PID (F-PID), and Fuzzy-PID using Lookup Table (F-LUT) controllers. Effect of external disturbance such as subject respiration is considered to see the reliability of each developed force/position control system. Based on the simulation results, F-PID force controller shows promising outcome with a marginal error of 0.33% during the disturbance period and no error when the disturbance is absent.
Document information
Intelligent approach to Force/Position Control of Ultrasound-Guided Breast Biopsy Robotic System
2017-11-30
Journal of Telecommunication, Electronic and Computer Engineering (JTEC); Vol 9, No 3-7: Intelligent System Modeling and Control; 73-79 ; 2289-8131 ; 2180-1843
Article (Journal)
Electronic Resource
English
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