中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery
作者: 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: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications Ltd,
会议录出版地: Zurich-Durnten, Switzerland
出版日期: 2013
页码: 706-712
收录类别: EI
ISSN号: 1660-9336
ISBN号: 9783037858714
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13901
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery.pdf(341KB)----开放获取View Download

Recommended Citation:
赵希梅; 姜明明; 李洪谊; 刘浩.Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery.见:Trans Tech Publications Ltd,.Applied Mechanics and Materials,Zurich-Durnten, Switzerland,2013,706-712
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[赵希梅]'s Articles
[姜明明]'s Articles
[李洪谊]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[赵希梅]‘s Articles
[姜明明]‘s Articles
[李洪谊]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace