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At present, the CT guidance method allows surgeons to quickly locate the lesion area; however, it is necessary to manually adjust the position of the puncture needle for insertion. In this paper, a three-dimensional assisted method is used to infer the control input required to reach the target point through the kinematic model of the robot. A Kalman filter is designed to estimate model parameters and obtain a more accurate model. To further improve the control performance of the robot system, a model-based control method\u2014the model predictive control (MPC) controller\u2014is used to increase the accuracy of the needle position in the developed robot system. In this way, medical efficiency is improved while reducing the burden on the surgeon.<\/jats:p>","DOI":"10.1155\/2020\/5406084","type":"journal-article","created":{"date-parts":[[2020,9,16]],"date-time":"2020-09-16T23:45:19Z","timestamp":1600299919000},"page":"1-13","source":"Crossref","is-referenced-by-count":3,"title":["The Design of Compact Robotic-Assisted Needle Position System with MPC-Based Remote Control"],"prefix":"10.1155","volume":"2020","author":[{"given":"Jing","family":"Guo","sequence":"first","affiliation":[{"name":"School of Automation, Guangdong University of Technology, Guangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yi","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Automation, Guangdong University of Technology, Guangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jin","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation, Guangdong University of Technology, Guangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8685-8101","authenticated-orcid":true,"given":"Chao","family":"Zeng","sequence":"additional","affiliation":[{"name":"School of Automation, Guangdong University of Technology, Guangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2962-7950","authenticated-orcid":true,"given":"Jie","family":"Huang","sequence":"additional","affiliation":[{"name":"Guangdong Lung Cancer Institute, Guangdong Provincial Key Laboratory of Translational Medicine in Lung Cancer, Guangdong Provincial People\u2019s Hospital, Guangdong Academy of Medical Sciences, Guangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Robotics, LIRMM, Univ Montpellier, CNRS, Montpellier, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-019-02319-9"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1055\/s-0031-1281774"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2016.2588884"},{"key":"4","doi-asserted-by":"crossref","DOI":"10.1146\/annurev-control-060117-104956","article-title":"Medical technologies and challenges of robot assisted minimally invasive intervention and diagnostics","author":"N. 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