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ADRC-Based Control Method for the Vascular Intervention Master-Slave Surgical Robotic System.

Wei Zhou1, Shuxiang Guo1,2,3, Jin Guo1

  • 1School of Life Science, Beijing Institute of Technology, Beijing 100081, China.

Micromachines
|December 24, 2021
PubMed
Summary
This summary is machine-generated.

Robot-assisted surgery enhances safety by improving guidewire and catheter accuracy. The active disturbance rejection control (ADRC) method significantly reduces tracking errors in vascular interventional procedures, protecting surgeons from radiation exposure.

Keywords:
ADRC-based control methodactive disturbance rejection control (ADRC)master–slave robotic systemsurgical safetyvascular interventional surgery

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Area of Science:

  • Medical Robotics
  • Control Systems Engineering
  • Vascular Surgery

Background:

  • Surgeons in vascular interventional surgery face prolonged X-ray exposure during procedures using guidewires and catheters with digital subtraction angiography (DSA).
  • Developing robot-assisted surgical systems is crucial for surgeon protection and improving procedural precision.
  • Displacement tracking accuracy is a critical performance metric for these robotic systems.

Purpose of the Study:

  • To investigate the efficacy of the active disturbance rejection control (ADRC) method for enhancing displacement tracking accuracy in robot-assisted vascular interventional surgery.
  • To compare the performance of ADRC with the incremental proportional-integral-derivative (PID) control method.
  • To validate the ADRC method's performance through calibration experiments on a master-slave robotic system.

Main Methods:

  • Analysis of the core principles of proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) methods.
  • Comparative experimental evaluation of incremental PID and ADRC control strategies.
  • Calibration experiments using a master-slave robotic system to assess ADRC performance in a realistic surgical setup.

Main Results:

  • The active disturbance rejection control (ADRC) method demonstrated superior performance compared to the incremental proportional-integral-derivative (PID) method.
  • Calibration experiments utilizing the ADRC method achieved a maximum tracking error of 0.87 mm.
  • The ADRC method effectively ensured high displacement tracking accuracy, crucial for surgical safety.

Conclusions:

  • The active disturbance rejection control (ADRC) method offers a significant improvement in displacement tracking accuracy for robot-assisted vascular interventional surgery.
  • ADRC implementation enhances surgical safety by minimizing tracking errors, thereby reducing surgeon radiation exposure.
  • This study validates ADRC as a robust control strategy for precision surgical robotics.