Control of a Master-Slave Pneumatic System for Teleoperated Needle Insertion in MRI

摘要

This paper presents the control of a pneumatically actuated master- slave system intended for teleoperated needle insertion in the liver under MRI-guidance. It addresses the challenge of achieving accurate needle positioning and force feedback to the opera tor in the case of pneumatic actuation with significant friction. Using time delay position control as the basis, we investigate force feedback via impedance control and admittance control. For impedance control, we propose a new adaptive friction compensa tion algorithm that only requires a single tuning parameter. Experiments on a 1 DOF prototype system using silicone rubber phantoms with distinct densities highlight the differences between impedance control and admittance control, and demonstrate superior performance compared to a traditional impedance control scheme.