TY - GEN
T1 - The evaluation of a novel force feedback interventional surgery robotic system
AU - Guo, Shuxiang
AU - Peng, Weili
AU - Xiao, Nan
AU - Wang, Yuan
AU - Xu, Changqi
AU - Li, Guangxuan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/1
Y1 - 2016/9/1
N2 - The interventional therapy is a kind of minimally invasive treatment. Under the guidance of medical imaging equipment, surgeons take the special catheter, guide wire and other precision instruments import in the body to do the pathological diagnosis and local treatment. The characters of interventional therapy are no operation, small trauma, rapid recovery, etc. However, the interventional treatment has some shortage such as hard to measure the front collision force of the guide wire, and the harm of the X-rays to surgeon. Above those shortages, this paper use the phantom desktop as the master controller, and design a new novel of interventional operation slave system which has force feedback structures. Besides according to the master-slave motion results, the paper has done the system identification. Then the system uses MRAC fuzzy PID looped control. Finally, this paper analyses the dynamic performance of the surgery robot system and makes a comparison between the simulation and the real results.
AB - The interventional therapy is a kind of minimally invasive treatment. Under the guidance of medical imaging equipment, surgeons take the special catheter, guide wire and other precision instruments import in the body to do the pathological diagnosis and local treatment. The characters of interventional therapy are no operation, small trauma, rapid recovery, etc. However, the interventional treatment has some shortage such as hard to measure the front collision force of the guide wire, and the harm of the X-rays to surgeon. Above those shortages, this paper use the phantom desktop as the master controller, and design a new novel of interventional operation slave system which has force feedback structures. Besides according to the master-slave motion results, the paper has done the system identification. Then the system uses MRAC fuzzy PID looped control. Finally, this paper analyses the dynamic performance of the surgery robot system and makes a comparison between the simulation and the real results.
KW - Force feedback
KW - Fuzzy PID
KW - Master-slave system
KW - Minimally invasive interventional surgery
KW - System identification
UR - https://www.scopus.com/pages/publications/84991261906
U2 - 10.1109/ICMA.2016.7558532
DO - 10.1109/ICMA.2016.7558532
M3 - Conference contribution
AN - SCOPUS:84991261906
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 43
EP - 49
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 -