A PID-type Fuzzy Logic Controller for an Interventional Surgical Robot

摘要

Intracardiac vascular disease and Intracerebral vascular disease are the highest killers of human health. With the development of modern science and technology, the use of robotic technology to assist vascular interventional surgery has become an important means to decrease cardiovascular and cerebrovascular diseases. The cardio-cerebral vascular interventional Microrobots in Operating Room can free the doctor from the surgical site and prevent the radiation from harming the doctor's body. Aiming at the master-slave control problem of the vascular intervention robot, the traditional PID controller are analyzed, and the PIDtype fuzzy controller of the vascular intervention surgical robot is designed. The experimental results of the treatment of vascular diseases with micro-robots are presented in this paper show that the PID-type fuzzy controller can effectively improve..perational ability, and verify the feasibility of using the PID-type controller in the master-slave control system of cardiovascular and cerebrovascular intervention robot.