1A2-C04 Improvement of positioning accuracy in ultrasound probe scan mechanism using pneumatic actuators by introducing gain switching PID control(Medical Robotics and Mechatronics (2))

Abstract

We have developed the ultrasound probe scan mechanism to assist ultrasound diagnosis using pneumatic actuators. However, due to the nonlinearity of the position in the actuators, there is a limitation in the position accuracy of the probe using the mechanism. Thus, we propose to use the PID control method for more effective analysis and set parameters to control the mechanism. We have experimented the position control of the probe by introducing gain switching PID control on the phantom and human body. From results, by introducing gain switching PID control, we were able to improve the accuracy of the position and angle until 1.45mm and 0.84deg, respectively.