Implementation of Nema-17 Stepper Motor and SG-90 Servo Motor as Mechanical Drivers on Spinal Needle Positioning Test Equipment

Inconsistency in spinal needle visibility is still a problem in the spinal needle insertion method and requires the driver’s accuracy in positioning it based on the angle and depth parameters. The need for accuracy in movement needs to be evaluated with tools and systems that have been made so that they can produce accurate values. This document is presented with software and hardware that supports controlling the Nema-17 stepper motor drive with three axes (X, Y, and Z axes of the test equipment) and the SG-90 servo motor as a spinal needle drive. Based on the position test with the Nema-17 stepper motor, accurate results were obtained using a delay between 100 μs – 500 μs. So, the delay of the driving system does not affect the accurate results. System testing with coordinate input obtained a MAPE value of 14.62%. Whereas for system testing with an input angle between 20°–60° an RMSE value of 0.3 is obtained. So that the algorithms and actuators used in this system succeed in positioning the spinal needle.