Kinetics Analysis and ADRC‐Based Controller for a String‐Driven Vascular Intervention Surgical Robotic System

Wei Zhou, Shuxiang Guo*, Jin Guo*, Zhengyang Chen, Fanxu Meng

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)

Abstract

Vascular interventional surgery is a typical method for diagnosing and treating cardiocerebrovascular diseases. However, a surgeon is exposed to significant X‐radiation exposure when the operation is conducted for a long period of time. A vascular intervention surgical robotic system for assisting the surgeon is a promising approach to address the aforementioned issue. When developing the robotic system, a high displacement accuracy is crucial, and this can aid in enhancing operating efficiency and safety. In this study, a novel kinetics analysis and active disturbance rejection control (ADRC)‐based controller is proposed to provide high accuracy for a string‐driven robotic system. In this controller, kinetics analysis is initially used to improve the accuracy affected by the inner factors of the slave manipulator. Then, the ADRC controller is used to further improve the operating accuracy of the robotic system. Finally, the proposed controller is evaluated by conducting experiments on a vascular model. The results indicate maximum steady errors of 0.45 mm and 6.67°. The experimental results demonstrate that the proposed controller can satisfy the safety requirements of the string‐driven robotic system.

Original languageEnglish
Article number770
JournalMicromachines
Volume13
Issue number5
DOIs
Publication statusPublished - May 2022

Keywords

  • kinetics analysis and ADRC‐based controller
  • master–slave robotic system
  • string‐driven slave manipulator
  • surgeon’s habits
  • vascular intervention surgery

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Zhou, W., Guo, S., Guo, J., Chen, Z., & Meng, F. (2022). Kinetics Analysis and ADRC‐Based Controller for a String‐Driven Vascular Intervention Surgical Robotic System. Micromachines, 13(5), Article 770. https://doi.org/10.3390/mi13050770