This article introduces the design and control performance of a lightweight, flexible, 4-degree-of-freedom (DOF) parallel robot for percutaneous biopsy guided by computed tomography (CT). At present, the CT guidance method allows surgeons to quickly locate the lesion area; however, it is necessary to manually adjust the position of the puncture needle for insertion. In this paper, a three-dimensional assisted method is used to infer the control input required to reach the target point through the kinematic model of the robot. A Kalman filter is designed to estimate model parameters and obtain a more accurate model. To further improve the control performance of the robot system, a model-based control method—the model predictive control (MPC) controller—is used to increase the accuracy of the needle position in the developed robot system. In this way, medical efficiency is improved while reducing the burden on the surgeon.

中文翻译：

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基于MPC的紧凑型机器人辅助针定位系统设计。

本文介绍了一种轻巧，灵活，四自由度（DOF）并行机器人的设计和控制性能，该机器人用于在计算机断层扫描（CT）的引导下进行经皮活检。目前，CT引导方法可以使外科医生快速定位病变区域。但是，必须手动调节穿刺针的插入位置。在本文中，使用三维辅助方法通过机器人的运动学模型来推断到达目标点所需的控制输入。卡尔曼滤波器设计用于估计模型参数并获得更准确的模型。为了进一步提高机器人系统的控制性能，使用了基于模型的控制方法（模型预测控制（MPC）控制器）来提高开发的机器人系统中针位置的准确性。