NDLI: Development of a PID controller for a novel robotic catheter system

Content Provider	IEEE Xplore Digital Library
Author	Xu Ma Shuxiang Guo Nan Xiao Jian Guo Xufeng Xiao Yoshida, S. Tamiya, T. Kawanishi, M.
Copyright Year	2011
Description	Author affiliation: Graduate School of Engineering, Kagawa University, Takamatsu, Japan (Xu Ma; Nan Xiao; Jian Guo; Xufeng Xiao) \|\| Department of Neurological Surgery, Faculty of Medicine, Kagawa University, Takamatsu, Japan (Tamiya, T.; Kawanishi, M.) \|\| Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, Japan (Shuxiang Guo; Yoshida, S.)
Abstract	Catheter-based interventions are a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. The accuracy of catheter manipulation is limited by the doctor for operating over the length of the catheter. Traditional catheters with master-slave operating system can potentially provide the desired manipulation of a catheter, but hysteresis makes it difficult to control the actuators. A method to integrate high-precision, compliant sensors on the master-slave operation system to provide position feedback for control would greatly improve the viability of transmitting catheters. In this work, we described the design of a novel robotic catheter system, in addition, made the simulation and experiments of the catheter operating system in master side with PID controlling method. The master side exhibited excellent stability over the operating range and are designed to be easily operated when the doctors use it to do the surgery.
Starting Page	64
Ending Page	68
File Size	2250598
Page Count	5
File Format	PDF
ISBN	9781424493234
e-ISBN	9781424493241
DOI	10.1109/ICCME.2011.5876706
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Operating systems Robotic Catheter System Minimally Invasive Surgery (MIS) Communications technology PID control Mathematical model Master-Slave Mechanism Robots Catheters
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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