Study on the Tracking Performance of the Vascular Interventional Surgical Robotic System Based on the Fuzzy-PID Controller

In recent years, minimally invasive interventional surgery with catheter as the important surgical instrument has been widely applied in the treatment of Cardio-Cerebrovascular disease for its small tranma, fast recovery and other many advantages in the world. But traditional intervention operation of cardiovascular disease still has many insufficient sections. the tools of operation have a poor operability, a high dependency to the doctor on the spot, and its auxiliary informations are not visualized and full-scale. At the moment of operation, The surgeons are exposed to X-ray threatening the surgeons health due to the depositing which lasts long. It is imperative to protect the surgeons from X-ray during VIS. With this system and the surgeon operates a real catheter on the master side, which can make full use of the natural catheter manipulation experience and skills obtained in conventional catheter operation. In this paper, we proposed fuzzy-PID controller to the vascular interventional surgical robotic system to solve the problem of tracking error from the slave to the master manipulator. We conducted master-slave tracking experiments to compare the performance of PID controller with fuzzy-PID controller. Experiments results showed that the fuzzy-PID controller can improve the tracking performance from the slave side to the master side and reduce the error. So the the fuzzy PID controller is suitable for the robotassist catheter system.