• Chang Nho Cho, Jong Hyun Seo, Hong Rae Kim, Hyunchul Jung, and Kwang Gi Kim.
• Biomedical Engineering Branch, National Cancer Centre, Goyang-si, Republic of Korea.
• Int J Med Robot. 2015 Dec 1; 11 (4): 502-11.

BackgroundTo reduce the radiation exposure of patients and physicians during needle-based procedures, robotic needle insertion systems have been widely developed. However, during robotic needle insertion, the respiratory motion of the patient can cause serious injury.MethodsA vision-based variable impedance control algorithm was introduced to compensate for the respiratory motion. The algorithm controls the robot so that the applied forces and moments on the needle are zero. Also, an oscillation observer was introduced to ensure patient safety. A preliminary test was performed using a seven degrees of freedom (7-DOF) robot and a phantom.ResultIt was found that the proposed algorithm greatly decreases damage to the phantom due to respiratory motion. Also, the proposed oscillation observer was able to ensure robot stability.ConclusionsThe proposed control scheme allows the robot to compensate for the respiratory motion to ensure patient safety during a needle-based procedure.Copyright © 2015 John Wiley & Sons, Ltd.

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