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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)
Department机器人学研究室
Conference Name2013 International Conference on Mechanics and Mechatronics, ICMM 2013
Conference DateOctober 4-6, 2013
Conference PlaceGuilin, Guangxi, China
Author of SourceAnhui Polytechnic University; Zhejiang Forestry University; Kunming University of Science and Technology; Yunnan Normal University
Source PublicationApplied Mechanics and Materials
PublisherTrans Tech Publications Ltd,
Publication PlaceZurich-Durnten, Switzerland
2013
Pages706-712
Indexed ByEI
EI Accession number20134516945939
Contribution Rank1
ISSN1660-9336
ISBN978-3-03785-871-4
KeywordCatheters Dynamic Models Electric Control Equipment Proportional Control Systems Robotics
AbstractMinimally 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13901
Collection机器人学研究室
Recommended Citation
GB/T 7714
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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