Abstract
Cancer is one of the global health problems that affects millions of people every year. Biopsies are among the standard methods for detecting and confirming a cancer diagnosis. Performing this study manually poses several challenges due to tissue movement and the difficulty of precisely locating the target, as is often the case in lung biopsies. This study presents the design and implementation of an autonomous image processing algorithm included in a closed-loop controller that drives the activity of a multi-degree-of-freedom (six) robotic manipulator that performs emulated tissue biopsies. A realistic lung motion emulator, based on a two-degree-of-freedom robotic device with a photon emitter (to simulate radiopharmaceutical identification of cancerous tissue), was used to test the proposed automatic biopsy collector. Applying image processing to detect cancer tissue enables the identification of the centroid and tumor boundaries. Using the detected centroid coordinates, the reference trajectory of the end effector (biopsy needle) was automatically determined. A finite-time convergent controller was implemented to guide the robotic manipulator's motion towards the tumor position within a specified time window. The controller was evaluated using a digital twin representation of the entire robotic system and using an experimental device working on the simulated mobile tumor emulator. Evaluation of simulated tumor detection and reference trajectory tracking effectiveness was used to validate the operation of the proposed automatic robotic lung biopsy sampler. The application of the controller allows one to track the position of the emulated tumor with a deviation of 0.52 mm and a settling time of less than 1 s.