TY - GEN
T1 - Development of a PID controller for a novel robotic catheter system
AU - Ma, Xu
AU - Guo, Shuxiang
AU - Xiao, Nan
AU - Guo, Jian
AU - Xiao, Xufeng
AU - Yoshida, Shunichi
AU - Tamiya, Takashi
AU - Kawanishi, Masahiko
PY - 2011
Y1 - 2011
N2 - Catheter-based interventions are a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. The accuracy of catheter manipulation is limited by the doctor for operating over the length of the catheter. Traditional catheters with master-slave operating system can potentially provide the desired manipulation of a catheter, but hysteresis makes it difficult to control the actuators. A method to integrate high-precision, compliant sensors on the master-slave operation system to provide position feedback for control would greatly improve the viability of transmitting catheters. In this work, we described the design of a novel robotic catheter system, in addition, made the simulation and experiments of the catheter operating system in master side with PID controlling method. The master side exhibited excellent stability over the operating range and are designed to be easily operated when the doctors use it to do the surgery.
AB - Catheter-based interventions are a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. The accuracy of catheter manipulation is limited by the doctor for operating over the length of the catheter. Traditional catheters with master-slave operating system can potentially provide the desired manipulation of a catheter, but hysteresis makes it difficult to control the actuators. A method to integrate high-precision, compliant sensors on the master-slave operation system to provide position feedback for control would greatly improve the viability of transmitting catheters. In this work, we described the design of a novel robotic catheter system, in addition, made the simulation and experiments of the catheter operating system in master side with PID controlling method. The master side exhibited excellent stability over the operating range and are designed to be easily operated when the doctors use it to do the surgery.
KW - Master-Slave Mechanism
KW - Minimally Invasive Surgery (MIS)
KW - PID control
KW - Robotic Catheter System
UR - http://www.scopus.com/inward/record.url?scp=79959928415&partnerID=8YFLogxK
U2 - 10.1109/ICCME.2011.5876706
DO - 10.1109/ICCME.2011.5876706
M3 - Conference contribution
AN - SCOPUS:79959928415
SN - 9781424493241
T3 - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
SP - 64
EP - 68
BT - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
T2 - 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Y2 - 22 May 2011 through 25 May 2011
ER -