Motorised robotic devices are widely used in medical fields that require precision and robustness. Specifically, intratumoral therapy is a type of localised cancer treatment that involves the injection of therapeutic agents into the tumour to maximise the impact. The robotic platform, which is being developed, will perform the needle insertion procedure. Therefore, it requires a control algorithm which will ensure that the desired path of the end-effector is achieved smoothly with minimal error.
The assignment will include the following activities:
1. Familiarise myself with the current state of the project. What kind of setup, such as sensors or actuators, is at the beginning of the assignment, and what resources are available?
2. Research relevant literature, such as provided or found papers and articles.
3. Evaluate different control methods (e.g. PID) based on their advantages and disadvantages. Determine the most suitable for the project.
4. Develop a theoretical model for simulation, parameter tuning, and validation of the proposed control method. The model will clearly explain the working principle and the logic behind the input processing.
5. Implement the control algorithm into the physical setup and perform practical tests.
6. Iterate between the model tuning and practical tests based on the experiment outcomes.