Design of a New Catheter Operating System for the Surgical Robot

Ma, Xu; Zhou, Jingfang; Zhang, Xu; Yang, Qi; Huang, Xiaochen

doi:10.1155/2021/8898311

Cited by 9 publications

(3 citation statements)

References 15 publications

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“…Here, k is the mass of the robotic arm at the slave end; b is the damping coefficient when the robotic arm performs the push-pull action; c is the elasticity coefficient when the push-pull action is performed. The model parameters are chosen as [34,35].…”

Section: Resultsmentioning

confidence: 99%

Stability Study of an Interventional Surgery Robot Based on Active Disturbance Rejection Control

Wen

2023

Electronics

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Interventional surgery robots are essential in cardiovascular surgery as remote medical devices. By performing remote surgery, surgeons can reduce surgical fatigue and after-effects from heavy surgical instruments and radiation, ensuring that cardiovascular surgery is performed in a safe and reliable manner. To enhance stability during interventional procedures and reduce the impact of surgical risk due to factors where the robotic guidewire section from the end is vulnerable to mechanical jitter or blockage by blood flow, lipids, and thrombus inside the vessel, a new control method is proposed. The active disturbance rejection controller (ADRC) combined with intelligence algorithms is used to improve the performance of the controller by introducing the fuzzy inference algorithm and RBF neural network algorithm to self-adjust the parameters of the controller so that it has a greater ability to compensate for the disturbance factors appearing in the system. In numerical simulation experiments, the advantages and disadvantages of the ADRC combined with intelligence algorithms and the control performance of the conventional control strategy are analyzed in terms of the following: disturbance suppression performance and flexibility performance, respectively. Finally, different types of working conditions have been designed in the experimental platform to simulate the operation flow of in vivo vascular surgery. Experimental results show that the controller proposed in this paper meets the high accuracy, fast response, and low deviation required by interventional vascular surgery robots in complex surgical environments and can provide a more reliable guarantee for the stability of interventional surgery robots.

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Section: Resultsmentioning

confidence: 99%

Stability Study of an Interventional Surgery Robot Based on Active Disturbance Rejection Control

Wen

2023

Electronics

Self Cite

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“…For instance, Ma et al implemented a multi-layer neural-network model to tune PID parameters effectively and to improve the accuracy of the slave robot’s axial displacement. The study compared the MLP-tuned PID controller with conventional PID, and the result indicates that the neural-network-tuned controller had a better performance than the traditional PID control system [ 69 ]. Similarly, Wu et al [ 70 ] utilized the long short-term memory network (LSTM) to model the hysteretic effects of a unidirectional robotic catheter and to track the position accuracy of its tip under different twist angles using the catheter’s kinematic parameters.…”

Section: Key Technologies and Application Areas Of Vascular Intervent...mentioning

confidence: 99%

Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review

Duan

Akinyemi

et al. 2023

Micromachines

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Prior methods of patient care have changed in recent years due to the availability of minimally invasive surgical platforms for endovascular interventions. These platforms have demonstrated the ability to improve patients’ vascular intervention outcomes, and global morbidities and mortalities from vascular disease are decreasing. Nonetheless, there are still concerns about the long-term effects of exposing interventionalists and patients to the operational hazards in the cath lab, and the perioperative risks that patients undergo. For these reasons, robot-assisted vascular interventions were developed to provide interventionalists with the ability to perform minimally invasive procedures with improved surgical workflow. We conducted a thorough literature search and presented a review of 130 studies published within the last 20 years that focused on robot-assisted endovascular interventions and are closely related to the current gains and obstacles of vascular interventional robots published up to 2022. We assessed both the research-based prototypes and commercial products, with an emphasis on their technical characteristics and application domains. Furthermore, we outlined how the robotic platforms enhanced both surgeons’ and patients’ perioperative experiences of robot-assisted vascular interventions. Finally, we summarized our findings and proposed three key milestones that could improve the development of the next-generation vascular interventional robots.

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“…Cloud platform adopts distributed storage mode and parallel computing, which can effectively improve the utilization rate of computing resources and reduce the cost of computing and storage resources through resource sharing. The advantage of WIFI transmission is that it is easy to regroup and maintain without connecting communication lines, but there are many difficulties in WIFI communication, such as unreliable WIFI channel, dynamic random attenuation characteristics of WIFI channel, weak anti-interference ability and so on (Ma X et al, 2021). Therefore, a set of picking robot remote operating system based on big data and WIFI is designed, which can realize the navigation and remote control of picking robot.…”

Section: Introductionmentioning

confidence: 99%

Research on Remote Operating System of Picking Robot Based on Big Data and Wifi

Sun

2021

INMATEH

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Agricultural mechanization has become the main mode of agricultural production and represents the development direction of modern agriculture. The amount of data generated in the agricultural production process is extremely huge, so it is necessary to introduce the concept and analysis method of big data. Combining agricultural robots with big data can improve the performance and application effect of robots. This paper combines big data, WLAN technology and robot technology to realize man-machine remote cooperation platform. This gives full play to the advantages that people are good at object recognition and robots are good at execution, and improves the fruit picking efficiency. The target fruit positioning and recognition system aided by machine vision is adopted to realize the accurate positioning of the fruit to be picked. Design of LFM control signal fitting based on big data clustering. In order to verify the feasibility of the scheme, taking the tomato picking robot as an example, the communication error and control accuracy using big data and WIFI (Wireless Fidelity) technology were tested, and the positioning and navigation efficiency with and without remote monitoring system was compared. Test results show that using big data and WIFI remote monitoring technology can effectively improve the efficiency and accuracy of positioning and navigation of remote operating system, which is of great significance for the design of automatic control system of picking robot.

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Design of a New Catheter Operating System for the Surgical Robot

Cited by 9 publications

References 15 publications

Stability Study of an Interventional Surgery Robot Based on Active Disturbance Rejection Control

Stability Study of an Interventional Surgery Robot Based on Active Disturbance Rejection Control

Technical and Clinical Progress on Robot-Assisted Endovascular Interventions: A Review

Research on Remote Operating System of Picking Robot Based on Big Data and Wifi

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