Percutaneous needle puncture operation is widely used in the image-guided interventions, including biopsy and ablation. MRI guidance has the advantages of high-resolution soft tissue imaging and thermal monitoring during energy-based ablation. This paper proposes the design of a 5-DOF pneumatic needle puncture robot, with all the cylinders, sensors and structure material MRI-compatible. Also, a hybrid fuzzy-PID controller is designed for the pneumatic driven system to adjust the PID parameters adaptively. The experiment validation result shows that, compared with the traditional fix-parameter PID control, the proposed hybrid fuzzy-PID control has no overshoot, and the settle time/steady state error remains low even with increasing load. This proves that the hybrid fuzzy-PID control strategy can increases the positioning accuracy and robustness of the pneumatic driven needle puncture robot, which is significant for the safety of percutaneous needle puncture operation.

经皮穿刺手术被广泛用于包括活检和消融在内的图像引导干预。MRI引导具有基于能量的消融过程中高分辨率软组织成像和热监控的优势。本文提出了一种具有5个自由度的气动针刺机器人的设计，该机器人具有所有的气缸，传感器和MRI兼容的结构材料。同样，为气动系统设计了一种混合模糊-PID控制器，以自适应地调整PID参数。实验验证结果表明，与传统的固定参数PID控制相比，提出的混合模糊PID控制没有过冲现象，即使增加负荷，稳定时间/稳态误差仍然很小。