title: Impedance and admittance control for respiratory-motion compensation during robotic needle insertion - a preliminary test.
abstract: BACKGROUND
  Many robotic needle-biopsy systems have been developed to enhance the accuracy of needle-biopsy intervention. These systems can reduce the intervention time and the radiation exposure of clinicians. However, respiratory-motion compensation is needed to ensure the accuracy and efficiency of needle biopsy intervention.
  
  
  METHODS
  Human respiratory-motion data were acquired using three inertial measurement units (IMUs), and respiratory motion was simulated using the Stewart-Gough platform. Robotic needle intervention was performed using impedance and admittance control algorithms for respiratory-motion compensation using the Stewart-Gough platform and a gelatin phantom.
  
  
  RESULTS
  The impedance and admittance control algorithms can be used to compensate for respiratory motion during robotic needle insertion. The admittance control algorithm exhibits better performance than the impedance control algorithm.
  
  
  CONCLUSIONS
  The impedance and admittance control algorithms can be applied for respiratory-motion compensation during robotic needle insertion. However, further study is needed for them to become clinically feasible.
authors.affiliation: Biomedical Engineering Branch, National Cancer Center, 323 Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, South Korea.
authors.forename: Yeoun Jae
authors.initials: YJ
authors.lastname: Kim
authors.affiliation: Biomedical Engineering Branch, National Cancer Center, 323 Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, South Korea.
authors.forename: Jong Hyun
authors.initials: JH
authors.lastname: Seo
authors.affiliation: Biomedical Engineering Branch, National Cancer Center, 323 Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, South Korea.
authors.forename: Hong Rae
authors.initials: HR
authors.lastname: Kim
authors.affiliation: Biomedical Engineering Branch, National Cancer Center, 323 Ilsan-ro, Ilsandong-gu, Goyang-si, Gyeonggi-do, 410-769, South Korea.
authors.forename: Kwang Gi
authors.identifier: http://orcid.org/0000-0001-9714-6038
authors.initials: KG
authors.lastname: Kim
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D001707:Biopsy, Needle; D017097:Electric Impedance; D004867:Equipment Design; D006801:Humans; D009038:Motion; D019047:Phantoms, Imaging; D012119:Respiration; D065287:Robotic Surgical Procedures / Q000379:methods*; D012371:Robotics
keywords: Stewart-Gough platform; admittance control; biopsy; impedance control; respiratory-motion compensation; robotic needle insertion