Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle swarm optimization

Abstract Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and treatment. The limited space manipulation restricts structure volume motion. In this paper, 8-degree-of-freedom proposed ultrasound probe manipulation, needle positioning, insertion. A novel parallel employed the saving, structural rigidity, collision avoidance. particle swarm optimization method based on informative value kinematic parameter identification to calibrate accurately. identifies parameters modified model stepwise according discernibility. Verification experiments prove that can realize motions needed targeting. By applying calibration method, reasonable, reliable forward built, average errors be 0.963 1.846 mm insertion point target point, respectively.