ArticleMicromachines2021
ADRC-Based Control Method for the Vascular Intervention Master-Slave Surgical Robotic System.
Article in Micromachines, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Improved precise guidewire delivery of a cardiovascular interventional surgery robot based on admittance control.International journal of computer assisted radiology and surgery · 2024Article
- Trajectory Tracking Control Method for Omnidirectional Mobile Robot Based on Self-Organizing Fuzzy Neural Network and Preview Strategy.Entropy (Basel, Switzerland) · 2023Article
- Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review.Micromachines · 2023Review
- Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System.Micromachines · 2022Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose and treat patients with the assistance of the digital subtraction angiography (DSA). Therefore, the surgeon will be exposed to X-rays for extended periods. To protect the surgeon, the development of a robot-assisted surgical system is of great significance. The displacement tracking accuracy is the most important issue to be considered in the development of the system. In this study, the active disturbance rejection control (ADRC) method is applied to guarantee displacement tracking accuracy. First, the core contents of the proportional-integral-derivative (PID) and ADRC methods are analyzed. Second, comparative evaluation experiments for incremental PID and ADRC methods are presented. The results show that the ADRC method has better performance of than that of the incremental PID method. Finally, the calibration experiments for the ADRC control method are implemented using the master-slave robotic system. These experiments demonstrate that the maximum tracking error is 0.87 mm using the ADRC method, effectively guaranteeing surgical safety.
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