Three-dimensional Fuzzy Control of Catheter Robotic in Endovascular Master-slave Interventional Surgery

Authors

Ximei Zhao, 1. School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, China;;2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
Jiankang You, 1. School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870, China;;
Liu Hao, 2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
Hongyi Li, 2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;

Abstract

Abstract: 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.

Recommended Citation

Zhao, Ximei; You, Jiankang; Hao, Liu; and Li, Hongyi (2020) "Three-dimensional Fuzzy Control of Catheter Robotic in Endovascular Master-slave Interventional Surgery," Journal of System Simulation: Vol. 27: Iss. 5, Article 11.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss5/11

First Page

997

Revised Date

2014-06-06

DOI Link

https://doi.org/

Last Page

1002

CLC

TP273.4

Recommended Citation

Zhao Ximei, You Jiankang, Liu Hao, Li Hongyi. Three-dimensional Fuzzy Control of Catheter Robotic in Endovascular Master-slave Interventional Surgery[J]. Journal of System Simulation, 2015, 27(5): 997-1002.