Intelligent approach to force/position control of ultrasound-guided breast biopsy robotic system

Large deformations occur inside the breast whenever the biopsy needle is inserted during conventional ultrasound-guided breast biopsy procedure. inconsistent force from manual handling of the ultrasound transducer makes maintaining the suspected lump in the ultrasound-imaging region challenging and further position the patient at discomfort. hence,this research presents the development of force controller for an ultrasound-guided breast biopsy (ugbb) robotic system in the aims to alleviate said issues by maintaining low contact force on the breast. a variant of force controllers has been studied; proportional (p),proportional and integral (pi),pid,pi-fuzzy,fuzzy-pid (f-pid),and fuzzy-pid using lookup table (f-lut) controllers. effect of external disturbance such as subject respiration is considered to see the reliability of each developed force/position control system. based on the simulation results,f-pid force controller shows promising outcome with a marginal error of 0.33% during the disturbance period and no error when the disturbance is absent.