Fuzzy controller design of the wire feeder of invasive vascular interventional surgery robot

Abstract

A fuzzy controller is established for the wire feeder of the invasive vascular interventional surgery robot in this paper. First of all, the mechanism of the wire feeder is introduced, and the axial motion is analyzed. Second, the dynamic model of the wire feeder is established. Next, the fuzzy PID controller is established to improve the positional accuracy and dynamic performance. At last, the controller is simulated by MATLAB. Comparing with normal PID controller, the fuzzy PID controller has better dynamic properties and anti-jamming ability.