Enhanced Surgical Precision in Medical Robotics through the Development of a Novel Stereotaxic Robot Design and Control System

摘要

This paper presents a novel and innovative design for a stereotaxic robot tailored for conducting brain surgery on mice. The robotic system is capable of performing drilling, drug injection, and implanting two electrodes simultaneously into the skull without the need for tool changes, marking a significant innovation in this field. Additionally, the control structure of this robot is a new feature not previously seen in similar examples. The analysis commences by simulating mathematically the device using MATLAB. Subsequently, a fuzzy engine is employed to address the nonlinearities and uncertainties of the mathematical model, acting as a compensator for the most accurate model developed in ADAMS software. The comparison between the models in ADAMS and MATLAB is based on their behavioral similarities, each utilizing the same PID controller. Following this, the PID controller in the MATLAB model is replaced with a distinct controller. The new design is then evaluated against the previous PID controller in terms of energy consumption, overshoot, and settling time, demonstrating high-precision outputs when the controller is implemented. The implementation of the new controller not only reduces energy consumption but also minimizes overshoot and settling time, thereby achieving a more stable and efficient operation during surgical procedures.