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Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery
Zhao XM(赵希梅); Jiang MM(姜明明); Li HY(李洪谊); Liu H(刘浩)
作者部门机器人学研究室
会议名称2013 International Conference on Mechanics and Mechatronics, ICMM 2013
会议日期October 4-6, 2013
会议地点Guilin, Guangxi, China
会议主办者Anhui Polytechnic University; Zhejiang Forestry University; Kunming University of Science and Technology; Yunnan Normal University
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications Ltd,
出版地Zurich-Durnten, Switzerland
2013
页码706-712
收录类别EI
EI收录号20134516945939
产权排序1
ISSN号1660-9336
ISBN号978-3-03785-871-4
关键词Catheters Dynamic Models Electric Control Equipment Proportional Control Systems Robotics
摘要Minimally Invasive Surgery (MIS) is a good choice to treat cardiovascular disease. However, the accuracy of catheter manipulation is limited by the doctor, and the X-ray damages the health of the doctors. A master-slave Robotic Catheter System (RCS) can solve the disadvantages of the traditional catheter intervention surgery. PID controller has been widely used in the master-slave RCS. However, Traditional PID controller used in the master-slave RCS will cause large overshoot or poor stability. An adaptive fuzzy PID controller can adjust the PID parameters online, reduce the overshoot, and improve the tracking performance of input signal. In this study, the dynamic model of the axial and rotational motion is presented. An adaptive fuzzy PID controller is proposed to improve the performance of the master-slave RCS. Simulation results show that the proposed controller is more effective than the traditional PID control, and the robustness is also improved. © (2013) Trans Tech Publications, Switzerland.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13901
专题机器人学研究室
推荐引用方式
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Zhao XM,Jiang MM,Li HY,et al. Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery[C]//Anhui Polytechnic University; Zhejiang Forestry University; Kunming University of Science and Technology; Yunnan Normal University. Zurich-Durnten, Switzerland:Trans Tech Publications Ltd,,2013:706-712.
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