Adaptive fuzzy PID controller of a master-slave robotic catheter system in minimally invasive surgery

作者：Zhao Xi Mei; Jiang Ming Ming; Li Hong Yi; Liu Hao

来源：2013 International Conference on Mechanics and Mechatronics, ICMM 2013, 2013-10-04 to 2013-10-06.

DOI：10.4028/www.scientific.net/AMM.419.706

• Adaptive fuzzy
• Adaptive fuzzy pid controllers
• Cardio-vascular disease
• Minimally invasive surgery
• PID controllers
• Robotic catheter systems
• Rotational motion
• Tracking performance

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.

• 出版日期2013
• 单位机器人学国家重点实验室