Towards Autonomous Robotic Biopsy-Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument.

ABSTRACT: This paper presents the design, control, and experimental evaluation of a novel fully automated robotic-assisted system for the positioning and insertion of a commercial full core biopsy instrument under guidance by ultrasound imaging. The robotic system consisted of a novel 4 Degree of freedom (DOF) add-on robot for the positioning and insertion of the biopsy instrument that is attached to a UR5-based teleoperation system with 6 DOF. The robotic system incorporates the advantages of both freehand and probe-guided biopsy techniques. The proposed robotic system can be used as a slave robot in a teleoperation configuration or as an autonomous or semi-autonomous robot in the future. While the UR5 manipulator was controlled using a teleoperation scheme with force controller, a reinforcement le

SUBMITTER: Sajadi SM 

PROVIDER: S-EPMC9272465 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature