Development of a novel robotic catheter manipulating system

Xu Ma*, Shuxiang Guo, Nan Xiao, Shunichi Yoshida, Takashi Tamiya

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

Manual operation of steerable catheter is inaccurate in minimally invasive surgery and requires dexterity for efficient manipulation of the catheter meanwhile exposes the 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. Increasing demands for flexibility and fast reactions in control method, fuzzy control can play an important role because the experience of experts can be combined in the fuzzy control rules to be implemented in the systems. We present a practical application of fuzzy PID controller for this developed system during the remote operations and compare with the traditional PID control experimentally. The feasibility and effectiveness of the control method are demonstrated. The performance using the fuzzy PID control is much better than using the conventional control method.

Original languageEnglish
Title of host publication2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012 - Conference Proceedings
Pages44-49
Number of pages6
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 2nd International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012 - Xi'an, China
Duration: 29 Aug 20121 Sept 2012

Publication series

Name2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012 - Conference Proceedings

Conference

Conference2012 2nd International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012
Country/TerritoryChina
CityXi'an
Period29/08/121/09/12

Keywords

  • Fuzzy PID Control
  • Minimally Invasive Surgery
  • Remote Operation
  • Robotic Catheter Manipulating System

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