Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery
文献类型：会议论文
| 作者 | Zhao XM(赵希梅); Jiang MM(姜明明); Li HY(李洪谊) ; Liu H(刘浩)
|
| 出版日期 | 2013 |
| 会议名称 | 2013 International Conference on Mechanics and Mechatronics, ICMM 2013 |
| 会议日期 | October 4-6, 2013 |
| 会议地点 | Guilin, Guangxi, China |
| 关键词 | Catheters Dynamic models Electric control equipment Proportional control systems Robotics |
| 页码 | 706-712 |
| 中文摘要 | Minimally Invasive Surgery (MIS) is a good choice to treat cardiovascular disease. However, the accuracy of catheter manipulation is limited by the doctor, and the X-ray damages the health of the doctors. A master-slave Robotic Catheter System (RCS) can solve the disadvantages of the traditional catheter intervention surgery. PID controller has been widely used in the master-slave RCS. However, Traditional PID controller used in the master-slave RCS will cause large overshoot or poor stability. An adaptive fuzzy PID controller can adjust the PID parameters online, reduce the overshoot, and improve the tracking performance of input signal. In this study, the dynamic model of the axial and rotational motion is presented. An adaptive fuzzy PID controller is proposed to improve the performance of the master-slave RCS. Simulation results show that the proposed controller is more effective than the traditional PID control, and the robustness is also improved. © (2013) Trans Tech Publications, Switzerland. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | Anhui Polytechnic University; Zhejiang Forestry University; Kunming University of Science and Technology; Yunnan Normal University |
| 会议录 | Applied Mechanics and Materials
 |
| 会议录出版者 | Trans Tech Publications Ltd, |
| 会议录出版地 | Zurich-Durnten, Switzerland |
| 语种 | 英语 |
| ISSN号 | 1660-9336 |
| ISBN号 | 978-3-03785-871-4 |
| 源URL | [http://ir.sia.cn/handle/173321/13901]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhao XM,Jiang MM,Li HY,et al. Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery[C]. 见:2013 International Conference on Mechanics and Mechatronics, ICMM 2013. Guilin, Guangxi, China. October 4-6, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。