Model-free control for autonomous prevention of adverse events in robotics
Introduction: Preventive control is a critical feature in autonomous technology to ensure safe system operations. One application where safety is most important is robot-assisted needle interventions. During incisions into a tissue, adverse events such as mechanical buckling of the needle shaft and...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2024-01-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1271748/full |
| _version_ | 1797365505062862848 |
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| author | Meenakshi Narayan Ann Majewicz Fey |
| author_facet | Meenakshi Narayan Ann Majewicz Fey |
| author_sort | Meenakshi Narayan |
| collection | DOAJ |
| description | Introduction: Preventive control is a critical feature in autonomous technology to ensure safe system operations. One application where safety is most important is robot-assisted needle interventions. During incisions into a tissue, adverse events such as mechanical buckling of the needle shaft and tissue displacements can occur on encounter with stiff membranes causing potential damage to the organ.Methods: To prevent these events before they occur, we propose a new control subroutine that autonomously chooses a) a reactive mechanism to stop the insertion procedure when a needle buckling or a severe tissue displacement event is predicted and b) an adaptive mechanism to continue the insertion procedure through needle steering control when a mild tissue displacement is detected. The subroutine is developed using a model-free control technique due to the nonlinearities of the unknown needle-tissue dynamics. First, an improved version of the model-free adaptive control (IMFAC) is developed by computing a fast time-varying partial pseudo derivative analytically from the dynamic linearization equation to enhance output convergence and robustness against external disturbances.Results and Discussion: Comparing IMFAC and MFAC algorithms on simulated nonlinear systems in MATLAB, IMFAC shows 20% faster output convergence against arbitrary disturbances. Next, IMFAC is integrated with event prediction algorithms from prior work to prevent adverse events during needle insertions in real time. Needle insertions in gelatin tissues with known environments show successful prevention of needle buckling and tissue displacement events. Needle insertions in biological tissues with unknown environments are performed using live fluoroscopic imaging as ground truth to verify timely prevention of adverse events. Finally, statistical ANOVA analysis on all insertion data shows the robustness of the prevention algorithm to various needles and tissue environments. Overall, the success rate of preventing adverse events in needle insertions through adaptive and reactive control was 95%, which is important toward achieving safety in robotic needle interventions. |
| first_indexed | 2024-03-08T16:49:55Z |
| format | Article |
| id | doaj.art-4be84fe9fdc64cdc9a3e14831861a413 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-08T16:49:55Z |
| publishDate | 2024-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-4be84fe9fdc64cdc9a3e14831861a4132024-01-05T04:45:27ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442024-01-011010.3389/frobt.2023.12717481271748Model-free control for autonomous prevention of adverse events in roboticsMeenakshi Narayan0Ann Majewicz Fey1Robotics and Automation Lab, Department of Engineering Technology, Miami University, Middletown, OH, United StatesHuman-Enabled Robotic Technology Lab, Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, United StatesIntroduction: Preventive control is a critical feature in autonomous technology to ensure safe system operations. One application where safety is most important is robot-assisted needle interventions. During incisions into a tissue, adverse events such as mechanical buckling of the needle shaft and tissue displacements can occur on encounter with stiff membranes causing potential damage to the organ.Methods: To prevent these events before they occur, we propose a new control subroutine that autonomously chooses a) a reactive mechanism to stop the insertion procedure when a needle buckling or a severe tissue displacement event is predicted and b) an adaptive mechanism to continue the insertion procedure through needle steering control when a mild tissue displacement is detected. The subroutine is developed using a model-free control technique due to the nonlinearities of the unknown needle-tissue dynamics. First, an improved version of the model-free adaptive control (IMFAC) is developed by computing a fast time-varying partial pseudo derivative analytically from the dynamic linearization equation to enhance output convergence and robustness against external disturbances.Results and Discussion: Comparing IMFAC and MFAC algorithms on simulated nonlinear systems in MATLAB, IMFAC shows 20% faster output convergence against arbitrary disturbances. Next, IMFAC is integrated with event prediction algorithms from prior work to prevent adverse events during needle insertions in real time. Needle insertions in gelatin tissues with known environments show successful prevention of needle buckling and tissue displacement events. Needle insertions in biological tissues with unknown environments are performed using live fluoroscopic imaging as ground truth to verify timely prevention of adverse events. Finally, statistical ANOVA analysis on all insertion data shows the robustness of the prevention algorithm to various needles and tissue environments. Overall, the success rate of preventing adverse events in needle insertions through adaptive and reactive control was 95%, which is important toward achieving safety in robotic needle interventions.https://www.frontiersin.org/articles/10.3389/frobt.2023.1271748/fullmodel-free adaptive controlprevention of adverse eventsminimally invasive surgeryautonomous robotsrobotic needle steering |
| spellingShingle | Meenakshi Narayan Ann Majewicz Fey Model-free control for autonomous prevention of adverse events in robotics Frontiers in Robotics and AI model-free adaptive control prevention of adverse events minimally invasive surgery autonomous robots robotic needle steering |
| title | Model-free control for autonomous prevention of adverse events in robotics |
| title_full | Model-free control for autonomous prevention of adverse events in robotics |
| title_fullStr | Model-free control for autonomous prevention of adverse events in robotics |
| title_full_unstemmed | Model-free control for autonomous prevention of adverse events in robotics |
| title_short | Model-free control for autonomous prevention of adverse events in robotics |
| title_sort | model free control for autonomous prevention of adverse events in robotics |
| topic | model-free adaptive control prevention of adverse events minimally invasive surgery autonomous robots robotic needle steering |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1271748/full |
| work_keys_str_mv | AT meenakshinarayan modelfreecontrolforautonomouspreventionofadverseeventsinrobotics AT annmajewiczfey modelfreecontrolforautonomouspreventionofadverseeventsinrobotics |