A study on telecommunication technology and remote-control algorithm in minimally invasive surgical robotic system

摘要

Minimally invasive surgery is commonly applied in cardiovascular diseases at present while surgeons exposed in the X-ray. With the development of automation and mechanism in robotic system, robot-assisted surgery had been introduced to solve such trouble. And minimally invasive surgical robotic technology has developed rapidly. In this paper, we propose a remote-control algorithm based on a fuzzy adaptive PID control algorithm in MIS robotic system to realize the demand for remedy in remote districts. Meanwhile, such hybrid algorithm is proposed to reduce the environmental interference and remove the effect of time-delay in signal transmission of remote operations. The results of simulation and experiments validate that such algorithm actually suppresses the interference of low frequency and improves the tracking performance of the master-slave system.