Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System
Vascular interventional surgery is a typical method for diagnosing and treating cardio-cerebrovascular diseases. However, a surgeon is exposed to significant X-radiation exposure when the operation is conducted for a long period of time. A vascular intervention surgical robotic system for assisting...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/13/5/770 |
| _version_ | 1797497806547582976 |
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| author | Wei Zhou Shuxiang Guo Jin Guo Zhengyang Chen Fanxu Meng |
| author_facet | Wei Zhou Shuxiang Guo Jin Guo Zhengyang Chen Fanxu Meng |
| author_sort | Wei Zhou |
| collection | DOAJ |
| description | Vascular interventional surgery is a typical method for diagnosing and treating cardio-cerebrovascular diseases. However, a surgeon is exposed to significant X-radiation exposure when the operation is conducted for a long period of time. A vascular intervention surgical robotic system for assisting the surgeon is a promising approach to address the aforementioned issue. When developing the robotic system, a high displacement accuracy is crucial, and this can aid in enhancing operating efficiency and safety. In this study, a novel kinetics analysis and active disturbance rejection control (ADRC)-based controller is proposed to provide high accuracy for a string-driven robotic system. In this controller, kinetics analysis is initially used to improve the accuracy affected by the inner factors of the slave manipulator. Then, the ADRC controller is used to further improve the operating accuracy of the robotic system. Finally, the proposed controller is evaluated by conducting experiments on a vascular model. The results indicate maximum steady errors of 0.45 mm and 6.67°. The experimental results demonstrate that the proposed controller can satisfy the safety requirements of the string-driven robotic system. |
| first_indexed | 2024-03-10T03:24:28Z |
| format | Article |
| id | doaj.art-d5f3bdb4a6b54a4aa1302e78e79cd564 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-10T03:24:28Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-d5f3bdb4a6b54a4aa1302e78e79cd5642023-11-23T12:12:55ZengMDPI AGMicromachines2072-666X2022-05-0113577010.3390/mi13050770Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic SystemWei Zhou0Shuxiang Guo1Jin Guo2Zhengyang Chen3Fanxu Meng4School of Life Science, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Life Science, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Life Science, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Life Science, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Life Science, Beijing Institute of Technology, Beijing 100081, ChinaVascular interventional surgery is a typical method for diagnosing and treating cardio-cerebrovascular diseases. However, a surgeon is exposed to significant X-radiation exposure when the operation is conducted for a long period of time. A vascular intervention surgical robotic system for assisting the surgeon is a promising approach to address the aforementioned issue. When developing the robotic system, a high displacement accuracy is crucial, and this can aid in enhancing operating efficiency and safety. In this study, a novel kinetics analysis and active disturbance rejection control (ADRC)-based controller is proposed to provide high accuracy for a string-driven robotic system. In this controller, kinetics analysis is initially used to improve the accuracy affected by the inner factors of the slave manipulator. Then, the ADRC controller is used to further improve the operating accuracy of the robotic system. Finally, the proposed controller is evaluated by conducting experiments on a vascular model. The results indicate maximum steady errors of 0.45 mm and 6.67°. The experimental results demonstrate that the proposed controller can satisfy the safety requirements of the string-driven robotic system.https://www.mdpi.com/2072-666X/13/5/770string-driven slave manipulatorkinetics analysis and ADRC-based controllervascular intervention surgerymaster–slave robotic systemsurgeon’s habits |
| spellingShingle | Wei Zhou Shuxiang Guo Jin Guo Zhengyang Chen Fanxu Meng Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System Micromachines string-driven slave manipulator kinetics analysis and ADRC-based controller vascular intervention surgery master–slave robotic system surgeon’s habits |
| title | Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System |
| title_full | Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System |
| title_fullStr | Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System |
| title_full_unstemmed | Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System |
| title_short | Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System |
| title_sort | kinetics analysis and adrc based controller for a string driven vascular intervention surgical robotic system |
| topic | string-driven slave manipulator kinetics analysis and ADRC-based controller vascular intervention surgery master–slave robotic system surgeon’s habits |
| url | https://www.mdpi.com/2072-666X/13/5/770 |
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