基于导管机器人的变论域模糊PID控制研究

在微创血管介入手术中，当操作者通过主手给出期望位置后，要求导管机器人能够控制导管快速稳定并精确到达目标位置。但由于导管机器人的电机响应迟滞以及血管内的复杂环境因素，传统的模糊PID控制已经不能满足血管介入手术对导管机器人快速性、精确性、强鲁棒性的要求。通过对导管建模，导管机器人运动学、手术坐标空间变换分析，采用变论域模糊PID控制，并运用Matlab进行仿真。仿真结果证明，所设计的变论域模糊PID控制器能够提高导管机器人的响应速度、定位精度与稳定性，为血管介入手术导管机器人的控制提供良好的理论依据。

Research on variable universe fuzzy PID control based on catheter robot

In minimally invasive vascular interventional surgery, when the operator gives a desired position by the main hand, the robot is required to control the catheter to quickly and stably and accurately reach the target position. However, due to the delay of the motor response and the complex environmental factors, the traditional fuzzy PID control can not meet the requirements of fast, accurate and robust for the catheter robot. Through the modeling of the pipe, the robot kinematics, the operation coordinate space transformation analysis, using variable universe fuzzy PID control, and the use of Matlab simulation.The simulation results show that the fuzzy PID controller can improve the catheter robot response speed, positioning accuracy and stability,then it provides a good theoretical basis for the control of the vascular interventional robot.