Development of a PID controller for a novel robotic catheter system

摘要

Catheter-based interventions are a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. The accuracy of catheter manipulation is limited by the doctor for operating over the length of the catheter. Traditional catheters with master-slave operating system can potentially provide the desired manipulation of a catheter, but hysteresis makes it difficult to control the actuators. A method to integrate high-precision, compliant sensors on the master-slave operation system to provide position feedback for control would greatly improve the viability of transmitting catheters. In this work, we described the design of a novel robotic catheter system, in addition, made the simulation and experiments of the catheter operating system in master side with PID controlling method. The master side exhibited excellent stability over the operating range and are designed to be easily operated when the doctors use it to do the surgery.