Study On Force Feedback Control Of Vascular Interventional Surgical Robot Based On Adaptive Fuzzy PID

There is an operation which has lots of strong points such as convenient,the wound healing period was short,the healing wound is minor,safe and efficacious named minimally invasive vascular operation.Therefore,it is given by the plenty of medical men and sufferers.Vascular interventional surgery robot can assist doctors to carry out conventional surgery quickly and productiveness,which immensely enhances the operation productivity.At present,in the research of vascular-interventional surgery robot,there is still the problem of low correctness of doctor master slave tactile feedback.Therefore,this paper aims to enhance the tactile telepresence of doctors’ operation,enhance the accurateness of principal and subordinate tactile force feedback,and raise the security of operation.Based on the interventional PID control of the master slave end force feedback,this paper optimizes and integrates the adaptive fuzzy installation,and uses the Adaptive-Fuzzy PID to correctly control the principal and subordinate terminal force feedback.First of all,the Adaptive-Fuzzy PID of principal and subordinate force feedback system of surgery robot is introduced explicit,and the Adaptive-Fuzzy PID controller is excogitated.For the sake of evaluate the stability and trustworthy of the engineered controller,the controller antitype is built in the Simulink toolkit under context of Matlab,and the control function of the controller is analyzed through simulation test.Then,the control programme of principal and subordinate force feedback is recommend circumstantial of the article,including of hardware,feedback force reproduction installation architectural design,and specific software such as system main sequence modules,subprogram module design processes and so on.Finally,for the cause of appraised the endurance,capability and secure of the recommendation principal and subordinate force feedback system for interventional surgery robot.In this paper,the overall evaluation experiment of the principal and subordinate force feedback system is carried out.The experimental results indicate that the principal and subordinate terminal force feedback system with Adaptive-Fuzzy PID control has a conduit error of 0-24 m N,which is 17% higher than that with PID control;the guide wire error of principal and subordinate terminal force feedback system is 0-21 m N,which is 16% higher than that with PID control.On the whole,the principal and subordinate terminal force feedback control system using Adaptive-Fuzzy PID algorithm has obvious improvement in control accuracy,anti-interference,security and reliability contrast with the conventional PID control algorithm.