Study on Force Feedback Control of the Vascular Interventional Surgical Robot based on Fuzzy PID

摘要

At present, most vascular interventional surgical robot force feedback control systems use PID control. However, for the PID control system, once the system parameters are selected, they cannot be changed, and their adaptability to changes in external conditions is poor. In this paper, a fuzzy PID controller is proposed for the master slave force feedback control system of vascular interventional surgical robots. To solved the error problems with force feedback accuracy, we conducted a master slave force feedback experiment to compare the effects of using PID and fuzzy PID control on system performance. The experimental results showed that the use of fuzzy PID control can improve accuracy and stability of master slave force feedback, and provide a good theoretical basis for the control of a robotic force feedback system for vascular interventional catheters.