机器人导管系统主机械手阻尼力建模与分析

Yang Yu, Jian Guo, Shuxiang Guo, Lin Shao
{"title":"机器人导管系统主机械手阻尼力建模与分析","authors":"Yang Yu, Jian Guo, Shuxiang Guo, Lin Shao","doi":"10.1109/ICMA.2015.7237569","DOIUrl":null,"url":null,"abstract":"Vascular Interventional Surgery (VIS) is the common but conventional method to cure the vascular disease. Teleoperation, a promising surgery is used to protect the surgeon from X-ray radiation as well as to solve the problem of lacking experienced surgeons in remote rural areas. In this paper, a mathematical model of the damper has been built to get the relationship between the current of the coil and the damping force. According to the mathematical model, a PID control algorithm was designed to improve the accuracy of force feedback. The slave manipulator detect the force of catheter when being inserted into the blood vessels, then the master manipulator produce an equal damping force by a damper based on magnetorheological fluids. The comparison experiments between control mode with the PID algorithm and control mode without PID algorithm have been done to verify the performance. The result shows that the error with the PID control algorithm is small, which indicates the PID algorithm can improve accuracy of the force feedback.","PeriodicalId":286366,"journal":{"name":"2015 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Modelling and analysis of the damping force for the master manipulator of the robotic catheter system\",\"authors\":\"Yang Yu, Jian Guo, Shuxiang Guo, Lin Shao\",\"doi\":\"10.1109/ICMA.2015.7237569\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Vascular Interventional Surgery (VIS) is the common but conventional method to cure the vascular disease. Teleoperation, a promising surgery is used to protect the surgeon from X-ray radiation as well as to solve the problem of lacking experienced surgeons in remote rural areas. In this paper, a mathematical model of the damper has been built to get the relationship between the current of the coil and the damping force. According to the mathematical model, a PID control algorithm was designed to improve the accuracy of force feedback. The slave manipulator detect the force of catheter when being inserted into the blood vessels, then the master manipulator produce an equal damping force by a damper based on magnetorheological fluids. The comparison experiments between control mode with the PID algorithm and control mode without PID algorithm have been done to verify the performance. The result shows that the error with the PID control algorithm is small, which indicates the PID algorithm can improve accuracy of the force feedback.\",\"PeriodicalId\":286366,\"journal\":{\"name\":\"2015 IEEE International Conference on Mechatronics and Automation (ICMA)\",\"volume\":\"21 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-09-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 IEEE International Conference on Mechatronics and Automation (ICMA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMA.2015.7237569\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Mechatronics and Automation (ICMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2015.7237569","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6

摘要

血管介入手术是治疗血管疾病的常用方法。远程手术是一种很有前途的手术,用于保护外科医生免受x射线辐射,并解决偏远农村地区缺乏经验丰富的外科医生的问题。本文建立了阻尼器的数学模型,得到了线圈电流与阻尼力之间的关系。根据数学模型,设计了PID控制算法,提高了力反馈的精度。从机械手检测导管插入血管时的力,主机械手通过基于磁流变液的阻尼器产生相等的阻尼力。通过对采用PID算法的控制模式和不采用PID算法的控制模式进行对比实验,验证了该控制模式的性能。结果表明,PID控制算法的误差较小,表明PID算法可以提高力反馈的精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Modelling and analysis of the damping force for the master manipulator of the robotic catheter system
Vascular Interventional Surgery (VIS) is the common but conventional method to cure the vascular disease. Teleoperation, a promising surgery is used to protect the surgeon from X-ray radiation as well as to solve the problem of lacking experienced surgeons in remote rural areas. In this paper, a mathematical model of the damper has been built to get the relationship between the current of the coil and the damping force. According to the mathematical model, a PID control algorithm was designed to improve the accuracy of force feedback. The slave manipulator detect the force of catheter when being inserted into the blood vessels, then the master manipulator produce an equal damping force by a damper based on magnetorheological fluids. The comparison experiments between control mode with the PID algorithm and control mode without PID algorithm have been done to verify the performance. The result shows that the error with the PID control algorithm is small, which indicates the PID algorithm can improve accuracy of the force feedback.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信