TY - GEN
T1 - A fuzzy PID control algorithm for the interventional surgical robot with guide wire feedback force
AU - Guo, Shuxiang
AU - Chen, Qianrui
AU - Xiao, Nan
AU - Wang, Yuan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/1
Y1 - 2016/9/1
N2 - During cardiovascular and cerebrovascular interventional surgical procedure, the accuracy of guide wire advance is particularly important for the success rate and safety of surgery, a single PID controller can't adapt to the complex surgical situations, the performance of the system has much room for improvement. In this paper, a fuzzy PID control algorithm with guide wire feedback force was proposed. According to the various situations in surgical procedures, multiple PID controller were designed correspondingly. In the actual surgical procedure, according to the different feedback-force of guide wire, the controller switches between different sets of PID controllers in real time to achieve more excellent performance respectively under different circumstances. Experimental results show that the fuzzy PID controller with guide wire feedback force achieves more excellent performance than the classical PID controller. And the dynamic performance of master-slave control system is better, the following error is reduced, overshoot decreases, and surgical safety greatly increased.
AB - During cardiovascular and cerebrovascular interventional surgical procedure, the accuracy of guide wire advance is particularly important for the success rate and safety of surgery, a single PID controller can't adapt to the complex surgical situations, the performance of the system has much room for improvement. In this paper, a fuzzy PID control algorithm with guide wire feedback force was proposed. According to the various situations in surgical procedures, multiple PID controller were designed correspondingly. In the actual surgical procedure, according to the different feedback-force of guide wire, the controller switches between different sets of PID controllers in real time to achieve more excellent performance respectively under different circumstances. Experimental results show that the fuzzy PID controller with guide wire feedback force achieves more excellent performance than the classical PID controller. And the dynamic performance of master-slave control system is better, the following error is reduced, overshoot decreases, and surgical safety greatly increased.
KW - Force feedback
KW - Fuzzy PID
KW - Master-slave system
KW - Minimally invasive interventional surgery
UR - http://www.scopus.com/inward/record.url?scp=84991223905&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2016.7558601
DO - 10.1109/ICMA.2016.7558601
M3 - Conference contribution
AN - SCOPUS:84991223905
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 426
EP - 430
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -