DEVELOPMENT OF 5 DOF ROBOTIC ARM PROTOTYPE CONTROL SYSTEM IN BRACHYTHERAPY PREPARATION BASED ON ARTIFICIAL NEURAL NETWORK

Sari

Brachytherapy is a cancer treatment that uses radioactive sources with temporary or permanent implantation in cancer tissue. The theraphy uses a radioactive Ir-192 source wrapped in a stainless steel capsule with a diameter of 0.5 mm and a length of 4 mm. The Center for Radioisotopes and Radiopharmaceutical Technology applies a remote manipulator to manufacture microcapsules, which affects the accuracy and risks of the radiation received by the operator. Therefore, to solve this problem, it is necessary to design a 5 DoF robotic arm based on artificial neural networks as a radioactive source transfer tool to improve the precision and safety of operators in preparing the radioactive sources. In developing the 5 DoF robotic arm control system, the NImyRIO was employed, which can control the servo motor, relay pump and valve reality, image processing, and inverse kinematic. The inverse kinematic uses the neural network method with a forward kinematic validation. The inverse kinematic test obtains the RMSE value of 2.78932 for x, 5.05205 for y, and 12.641 for z in the inverse kinematic test of artificial neural networks. Therefore, the inverse kinematic accuracy of the artificial neural network needs to be redeveloped.