An image guided, robotic needle insertion platform is being made to deliver radioactive Holmium-166 microspheres intratumoral. This system is internally called RADIANT. The RADIANT system uses multiple motion platforms and user interfaces, and is, in general, a large, complex system. Because of this, the control of this system is currently divided and minimally made, without much cohesion, such that each subsystem can sufficiently perform its task. There exist two motion platforms: The robot arm and the roto-translational stage. The robot's arm is used to place the end-effector at its entry point, whereas the roto-translational stage does the injection part. Furthermore, 2 Omega haptic feedback devices are used by the user, each one controlling a motion platform.
The main goal of the project is to design and integrate a control system that can directly and autonomously control both the robot arm and the roto-translational stage, satisfying both safety and performance needs.