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Related Experiment Video

Updated: Sep 21, 2025

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
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Kinetics Analysis and ADRC-Based Controller for a String-Driven Vascular Intervention Surgical Robotic System.

Wei Zhou1, Shuxiang Guo1,2, Jin Guo1

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

Micromachines
|May 28, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a novel controller for vascular intervention robotic systems to enhance surgeon safety. The new method improves accuracy, reducing radiation exposure during complex cardiovascular procedures.

Keywords:
kinetics analysis and ADRC-based controllermaster–slave robotic systemstring-driven slave manipulatorsurgeon’s habitsvascular intervention surgery

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Area of Science:

  • Medical Robotics
  • Control Systems Engineering
  • Cardiovascular Surgery

Background:

  • Vascular interventional surgery for cardio-cerebrovascular diseases poses significant X-radiation risks to surgeons.
  • Robotic systems offer a promising solution to mitigate surgeon radiation exposure and enhance procedural safety.
  • High displacement accuracy is critical for the efficiency and safety of vascular intervention robotic systems.

Purpose of the Study:

  • To propose a novel kinetics analysis and active disturbance rejection control (ADRC)-based controller for a string-driven robotic system.
  • To enhance the operating accuracy and safety of vascular intervention robotic systems.
  • To reduce surgeon exposure to X-radiation during procedures.

Main Methods:

  • Developed a novel controller integrating kinetics analysis and active disturbance rejection control (ADRC).
  • Applied kinetics analysis to address internal factors affecting the slave manipulator's accuracy.
  • Utilized ADRC to further refine the robotic system's operating accuracy.

Main Results:

  • Experimental evaluation on a vascular model demonstrated the controller's effectiveness.
  • Achieved maximum steady-state errors of 0.45 mm and 6.67°.
  • The proposed controller meets the stringent safety requirements for string-driven robotic systems.

Conclusions:

  • The novel controller significantly improves the accuracy of string-driven robotic systems for vascular interventions.
  • This advancement contributes to enhanced safety and efficiency in minimally invasive cardiovascular procedures.
  • The controller effectively addresses the need for high precision in robotic-assisted surgery, reducing surgeon risk.