中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
血管主从介入手术导管机器人三维模糊控制

文献类型:期刊论文

作者赵希梅; 游健康; 刘浩; 李洪谊
刊名系统仿真学报
出版日期2015
卷号27期号:5页码:997-1002
关键词主从介入手术 导管机器人系统 三维模糊控制 导管运动学模型
ISSN号1004-731X
其他题名Three-dimensional Fuzzy Control of Catheter Robotic in Endovascular Master-slave Interventional Surgery
产权排序1
中文摘要在微创血管介入手术中,当从端导管机器人输送导管时,导管易受到患者心跳、呼吸等不确定因素的影响。为了能抑制这些因素对输送导管造成的影响,实现导管机器人系统从手端精确快速地跟踪主手端的控制指令,建立了导管远端弯曲段的运动学模型,设计了基于三维模糊控制器的导管机器人系统。三维模糊控制器是在二维模糊控制器的基础上引入了导管位置误差变化的速率的作用,能进一步提高系统响应速度、降低超调、抑制干扰。仿真结果表明,此控制方案使导管机器人系统具有快速的跟踪性能和较强的鲁棒性能,进而提高了系统的控制精度。
英文摘要In minimally invasive endovascular interventional surgery, catheter was vulnerable to be interfered by uncertain factors such as heartbeat and breathing of patients during catheter robot of slave side conveyed catheter. In order to retrain impact on catheter transport of these factors and realize that slave side of catheter robot system tracked control command of master side accurately and quickly, kinematic model of catheter distal bending section was established, and catheter robot system based on three-dimensional fuzzy controller was designed. Three-dimensional fuzzy controller that introduced the function of rate of error change on the basis of two-dimensional fuzzy controller could further improve response speed of system and reduce overshoot and retrain disturbance. Simulation results show that the scheme makes catheter robot system have fast tracking performance and stronger robustness performance, improving control precision of system.
收录类别CSCD
语种中文
CSCD记录号CSCD:5410166
公开日期2015-08-31
源URL[http://ir.sia.ac.cn/handle/173321/16209]  
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
赵希梅,游健康,刘浩,等. 血管主从介入手术导管机器人三维模糊控制[J]. 系统仿真学报,2015,27(5):997-1002.
APA 赵希梅,游健康,刘浩,&李洪谊.(2015).血管主从介入手术导管机器人三维模糊控制.系统仿真学报,27(5),997-1002.
MLA 赵希梅,et al."血管主从介入手术导管机器人三维模糊控制".系统仿真学报 27.5(2015):997-1002.

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。