Control Tuning of a Heart Motion Tracking System in Off-pump Heart Surgery

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI:10.1109/ICROM.2017.8466219

Z. Rahmati, S. Behzadipour

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Abstract

Design, implementation and experimental evaluation of a classic PID, and a modern Generalized Predictive Control (GPC) for an off-pump heart tracking system were carried out. Following the design and simulation analysis of the controllers, experimental evaluation was conducted on the slave robot of SINA tele-operational surgical system. Results revealed that considering the volatile high-frequency/speed pattern of heart motion, the agility of the controlled system is the most influential factor on its performance. With this in mind, unlike the Ziegler-Nichols-based tuned PID with emphasis on steady-state condition, the PID control with more transient behavior showed a superior performance. The same rule holds for GPC tuning. Furthermore, the GPC demonstrated a better performance compared to the PID, thanks to its predictive characteristic; mainly if the “Look-Ahead” feature of the GPC control is provided with the utmost correct data of future heart motion. In this case, the RMS of tracking error reached to 0.236 mm and showed 61% enhancement in tracking performance. Analysis in time/frequency-domain modeling also proved that the real-time GPC control benefits highly from simpler models due to less computational burden.

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无泵心脏手术中心脏运动跟踪系统的控制调谐

对经典PID和现代广义预测控制(GPC)进行了设计、实现和实验评价。在对控制器进行设计和仿真分析的基础上，对SINA远程手术系统的从机器人进行了实验评估。结果表明，考虑到心脏运动的高频/速度波动模式，控制系统的敏捷性是影响其性能的最大因素。考虑到这一点，与强调稳态条件的基于ziegler - nichols的调谐PID不同，具有更多瞬态行为的PID控制表现出优越的性能。同样的规则也适用于GPC调优。此外，由于其预测特性，GPC比PID表现出更好的性能;主要是如果GPC控制的“向前看”功能提供了最正确的未来心脏运动数据。在这种情况下，跟踪误差的均方根达到0.236 mm，跟踪性能提高了61%。时域/频域建模分析也证明了GPC实时控制的优势在于模型简单，计算量少。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)

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