Fuzzy PID Control Orienting Medical Robot in Minimally Invasive Surgery

2007 ◽  
Author(s):  
Qinjun Du
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Pid Control ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Medical Robot

Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery

2013 ◽  
Vol 198 ◽  
pp. 3-8 ◽  
Author(s):  
Roman Trochimczuk
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Forward Kinematics ◽  
Kinematic Structure ◽  
Kinematics Analysis ◽  
Medical Robot ◽  
Surgical Robots

In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

Variable Universe Fuzzy PID Control for Minimally Invasive Operation Robotic Catheter System

2014 ◽  
Vol 618 ◽  
pp. 470-474
Author(s):  
Jing Bo Shi
Keyword(s):  
Minimally Invasive ◽  
Pid Control ◽  
Control Method ◽  
Response Speed ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Fast Tracking ◽  
Variable Universe ◽  
Control Precision ◽  
Minimally Invasive Operation

Robotic catheter minimally invasive operation requires control system of quick response, strong anti-jamming and real-time tracking of target trajectory. The contradiction between fuzzy PID control precision and its response speed limits its application in master-slave minimally invasive operation. The paper adopted variable universe fuzzy PID method to improve fuzzy PID method’s control precision without reducing the speed of response. The simulation results show that variable universe fuzzy PID control method has fast tracking performance and strong robustness, and it has feasibility and practicability in robotic catheter minimally invasive operation.

Adaptive Fuzzy PID Controller of a Master-Slave Robotic Catheter System in Minimally Invasive Surgery

2013 ◽  
Vol 419 ◽  
pp. 706-712
Author(s):  
Xi Mei Zhao ◽  
Ming Ming Jiang ◽  
Hong Yi Li ◽  
Hao Liu
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Pid Controller ◽  
Good Choice ◽  
Fuzzy Pid ◽  
Adaptive Fuzzy ◽  
Fuzzy Pid Controller ◽  
Catheter System ◽  
Poor Stability

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.

Manipulability and Accuracy Measures for a Medical Robot in Minimally Invasive Surgery

2004 ◽  
pp. 191-198 ◽  
Author(s):  
Rainer Konietschke ◽  
Tobias Ortmaier ◽  
Holger Weiss ◽  
Gerd Hirzinger ◽  
Robert Engelke
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Medical Robot ◽  
Accuracy Measures
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