Cable-driven interventional operation robot with Stribeck friction feedforward compensation

Shuxiang Guo; Changqi Xu; Nan Xiao; Xianqiang Bao; Yan Zhao; Cheng Yang; Rui Shen

doi:10.1109/ICMA.2017.8016088

Cable-driven interventional operation robot with Stribeck friction feedforward compensation

Shuxiang Guo, Changqi Xu, Nan Xiao^*, Xianqiang Bao, Yan Zhao, Cheng Yang, Rui Shen

^*此作品的通讯作者

医学技术学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

6 引用（Scopus）

摘要

The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In previous work, the interventional operation robot was developed to send catheter or guidewire. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization performance, a cable-driven slave side of interventional operation robot was developed. Friction model was built and friction feedforward algorithm was added to closed-loop control of the robot in this paper. Compared to the traditional motion control algorithm, the new method had advantages on dynamic performance.

源语言	英语
主期刊名	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1787-1791
页数	5
ISBN（电子版）	9781509067572
DOI	https://doi.org/10.1109/ICMA.2017.8016088
出版状态	已出版 - 23 8月 2017
活动	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, 日本期限: 6 8月 2017 → 9 8月 2017

出版系列

姓名	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

会议

会议	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
国家/地区	日本
市	Takamatsu
时期	6/08/17 → 9/08/17

访问文件

10.1109/ICMA.2017.8016088

其它文件与链接

链接到 Scopus 的出版物

引用此

Guo, S., Xu, C., Xiao, N., Bao, X., Zhao, Y., Yang, C., & Shen, R. (2017). Cable-driven interventional operation robot with Stribeck friction feedforward compensation. 在 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (页码 1787-1791). 文章 8016088 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8016088

Guo, Shuxiang ; Xu, Changqi ; Xiao, Nan 等. / Cable-driven interventional operation robot with Stribeck friction feedforward compensation. 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 1787-1791 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).

@inproceedings{75ec6b233b9347b18a20b3caf77f01cd,

title = "Cable-driven interventional operation robot with Stribeck friction feedforward compensation",

abstract = "The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In previous work, the interventional operation robot was developed to send catheter or guidewire. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization performance, a cable-driven slave side of interventional operation robot was developed. Friction model was built and friction feedforward algorithm was added to closed-loop control of the robot in this paper. Compared to the traditional motion control algorithm, the new method had advantages on dynamic performance.",

keywords = "Cable-driven, Master-slave system, Minimally invasive interventional surgery, Sribeck friction feedforward",

author = "Shuxiang Guo and Changqi Xu and Nan Xiao and Xianqiang Bao and Yan Zhao and Cheng Yang and Rui Shen",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 ; Conference date: 06-08-2017 Through 09-08-2017",

year = "2017",

month = aug,

day = "23",

doi = "10.1109/ICMA.2017.8016088",

language = "English",

series = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1787--1791",

booktitle = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",

address = "United States",

}

Guo, S, Xu, C, Xiao, N, Bao, X, Zhao, Y, Yang, C & Shen, R 2017, Cable-driven interventional operation robot with Stribeck friction feedforward compensation. 在 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017., 8016088, 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017, Institute of Electrical and Electronics Engineers Inc., 页码 1787-1791, 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017, Takamatsu, 日本, 6/08/17. https://doi.org/10.1109/ICMA.2017.8016088

Cable-driven interventional operation robot with Stribeck friction feedforward compensation. / Guo, Shuxiang; Xu, Changqi; Xiao, Nan 等.
2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 1787-1791 8016088 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Cable-driven interventional operation robot with Stribeck friction feedforward compensation

AU - Guo, Shuxiang

AU - Xu, Changqi

AU - Xiao, Nan

AU - Bao, Xianqiang

AU - Zhao, Yan

AU - Yang, Cheng

AU - Shen, Rui

PY - 2017/8/23

Y1 - 2017/8/23

N2 - The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In previous work, the interventional operation robot was developed to send catheter or guidewire. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization performance, a cable-driven slave side of interventional operation robot was developed. Friction model was built and friction feedforward algorithm was added to closed-loop control of the robot in this paper. Compared to the traditional motion control algorithm, the new method had advantages on dynamic performance.

AB - The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In previous work, the interventional operation robot was developed to send catheter or guidewire. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization performance, a cable-driven slave side of interventional operation robot was developed. Friction model was built and friction feedforward algorithm was added to closed-loop control of the robot in this paper. Compared to the traditional motion control algorithm, the new method had advantages on dynamic performance.

KW - Cable-driven

KW - Master-slave system

KW - Minimally invasive interventional surgery

KW - Sribeck friction feedforward

UR - http://www.scopus.com/inward/record.url?scp=85030323621&partnerID=8YFLogxK

U2 - 10.1109/ICMA.2017.8016088

DO - 10.1109/ICMA.2017.8016088

M3 - Conference contribution

AN - SCOPUS:85030323621

T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

SP - 1787

EP - 1791

BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017

Y2 - 6 August 2017 through 9 August 2017

ER -

Guo S, Xu C, Xiao N, Bao X, Zhao Y, Yang C 等. Cable-driven interventional operation robot with Stribeck friction feedforward compensation. 在 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. 页码 1787-1791. 8016088. (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). doi: 10.1109/ICMA.2017.8016088

Cable-driven interventional operation robot with Stribeck friction feedforward compensation

摘要

出版系列

会议

访问文件

其它文件与链接

指纹

引用此