TY - GEN
T1 - NARX model-based identification for the developed novel robotic catheter manipulating system
AU - Ma, Xu
AU - Guo, Shuxiang
AU - Xiao, Nan
AU - Guo, Jin
AU - Yoshida, Shunichi
AU - Tamiya, Takashi
AU - Kawanishi, Masahiko
AU - Gao, Baofeng
PY - 2012
Y1 - 2012
N2 - Manual operation of steerable catheter is inaccurate in minimally invasive surgery and requires dexterity for efficient manipulation of the catheter meanwhile exposes surgeons to intense radiation. In this paper, our objective is to develop a remote control system that replaces the manipulation of surgeons with high accuracy and precision. The system identification for nonlinear discrete time is presented by NARX (Nonlinear ARX) method. Input force signal and output displacement signal have been measured experimentally as the reference item to identify the system dynamic equation by using Matlab toolbox. After analyzed and compared with 3 kinds of typical system mathematical model, the dynamic characteristic of system was shown that the system could be locally described in terms of a suitable NARX model and it guarantees local stability and robust.
AB - Manual operation of steerable catheter is inaccurate in minimally invasive surgery and requires dexterity for efficient manipulation of the catheter meanwhile exposes surgeons to intense radiation. In this paper, our objective is to develop a remote control system that replaces the manipulation of surgeons with high accuracy and precision. The system identification for nonlinear discrete time is presented by NARX (Nonlinear ARX) method. Input force signal and output displacement signal have been measured experimentally as the reference item to identify the system dynamic equation by using Matlab toolbox. After analyzed and compared with 3 kinds of typical system mathematical model, the dynamic characteristic of system was shown that the system could be locally described in terms of a suitable NARX model and it guarantees local stability and robust.
KW - Minimally Invasive Surgery
KW - NARX Model
KW - Nonlinear System
KW - Robotic Catheter Manipulating System
KW - System Identification
UR - https://www.scopus.com/pages/publications/84867587830
U2 - 10.1109/ICMA.2012.6285689
DO - 10.1109/ICMA.2012.6285689
M3 - Conference contribution
AN - SCOPUS:84867587830
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 2225
EP - 2229
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -