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Alternative TitleThree-dimensional Fuzzy Control of Catheter Robotic in Endovascular Master-slave Interventional Surgery
赵希梅; 游健康; 刘浩; 李洪谊
Source Publication系统仿真学报
Indexed ByCSCD
Contribution Rank1
Funding Organization国家自然青年科学基金(61105099)
Keyword主从介入手术 导管机器人系统 三维模糊控制 导管运动学模型
Other AbstractIn minimally invasive endovascular interventional surgery, catheter was vulnerable to be interfered by uncertain factors such as heartbeat and breathing of patients during catheter robot of slave side conveyed catheter. In order to retrain impact on catheter transport of these factors and realize that slave side of catheter robot system tracked control command of master side accurately and quickly, kinematic model of catheter distal bending section was established, and catheter robot system based on three-dimensional fuzzy controller was designed. Three-dimensional fuzzy controller that introduced the function of rate of error change on the basis of two-dimensional fuzzy controller could further improve response speed of system and reduce overshoot and retrain disturbance. Simulation results show that the scheme makes catheter robot system have fast tracking performance and stronger robustness performance, improving control precision of system.
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Document Type期刊论文
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GB/T 7714
赵希梅,游健康,刘浩,等. 血管主从介入手术导管机器人三维模糊控制[J]. 系统仿真学报,2015,27(5):997-1002.
APA 赵希梅,游健康,刘浩,&李洪谊.(2015).血管主从介入手术导管机器人三维模糊控制.系统仿真学报,27(5),997-1002.
MLA 赵希梅,et al."血管主从介入手术导管机器人三维模糊控制".系统仿真学报 27.5(2015):997-1002.
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