A Novel Robotic Catheter Operation System with Remote Control and Experiments by Fuzzy PID Control
Manual operation of intracardiac steerable catheter is inaccurate, requires dexterity for efficient manipulation of the catheter, and exposes the surgeons to intense radiation. In this paper, our objective is to develop a remote control system that replaces the manipulation of surgeon with high accuracy. Compared with the proposed catheter systems in the world, we developed a novel robot-assisted catheter system used DSP as a controlling unit and developed a new force feedback mechanic structure to make the operator feel the contact force. The characteristic of manipulation system was validated by the experiments and built a fuzzy PID controller in the master side. By using fuzzy PID controller, the robotic system in master-slave side showed a good performance.
Xu Ma Shuxiang Guo Nan Xiao Jian Guo Shunichi Yoshida Takashi Tamiya Masahiko Kawanishi
Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa, Japan 2217-20, Hayashi-cho, Ta Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Kagawa, Japan H Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Kagawa, Japan Department of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu, Kagawa, Japan
国际会议
长春
英文
1-5
2011-08-29（万方平台首次上网日期，不代表论文的发表时间）