A fuzzy PID control algorithm for the interventional surgical robot with guide wire feedback force

摘要

During cardiovascular and cerebrovascular interventional surgical procedure, the accuracy of guide wire advance is particularly important for the success rate and safety of surgery, a single PID controller can't adapt to the complex surgical situations, the performance of the system has much room for improvement. In this paper, a fuzzy PID control algorithm with guide wire feedback force was proposed. According to the various situations in surgical procedures, multiple PID controller were designed correspondingly. In the actual surgical procedure, according to the different feedback-force of guide wire, the controller switches between different sets of PID controllers in real time to achieve more excellent performance respectively under different circumstances. Experimental results show that the fuzzy PID controller with guide wire feedback force achieves more excellent performance than the classical PID controller. And the dynamic performance of master-slave control system is better, the following error is reduced, overshoot decreases, and surgical safety greatly increased.