ABSTRACT
Robotic catheter minimally invasive operation requires that the driver control system has the advantages of quick response, strong anti-jamming and real-time tracking of target trajectory. Since the catheter parameters of itself and movement environment and other factors continuously change, when the driver is controlled using traditional proportional-integral-derivative (PID), the controller gain becomes fixed once the PID parameters are set. It can not change with the change of the parameters of the object and environmental disturbance so that its change affects the position tracking accuracy, and may bring a large overshoot endangering patients' vessel. Therefore, this paper adopts fuzzy PID control method to adjust PID gain parameters in the tracking process in order to improve the system anti-interference ability, dynamic performance and tracking accuracy. The simulation results showed that the fuzzy PID control method had a fast tracking performance and a strong robustness. Compared with those of traditional PID control, the feasibility and practicability of fuzzy PID control are verified in a robotic catheter minimally invasive operation.
Subject(s)
Humans , Algorithms , Computer Simulation , Fuzzy Logic , Minimally Invasive Surgical Procedures , Robotic Surgical Procedures , RoboticsABSTRACT
Cancer is one of the main diseases that threaten the health of human.In order to increase the cure rate of cancer,the accurate therapy of cancer must be developed speedily.The most effective method for curing cancer is intensity modulated radiation therapy(IMRT),which can increase the local control rate of cancer and decrease complications of tissues.IMRT is considered to be an important breakthrough in cancer therapy.The dose produced by it is better than 3D-CRT and can achieves better results of therapy,which has been confirmed in the clinical therapies of head cancer,neck cancer,prostate cancer,breast cancer,cervical cancer and pancreas cancer etc.The developing course of IMRT,the methods of intensity modulation,the enforcement process of IMRT and the feasibility test of therapy plans are emphatically introduced.