Title: Sliding Mode Control of Catheter Drive System and Performance Improvement via Fuzzy Logic

Abstract: Catheters are used in medical applications such as bronchoscopy, colonoscopy, angiography. Due to the catheters are in direct contact with the tissue in these procedures, their movements must be controlled. In this study, three different sliding-mode controllers that can be used to control the movement of the catheter have been proposed. These are the classical sliding mode controller, quasi sliding mode controller, and asymptotic sliding mode controller structures. Performance comparison of the controllers was made by assessing the closed-loop system response. The results indicated that the performance of the quasi sliding mode controller was better than the other controllers. It has been proposed to use a fuzzy logic-based highest controller to improve the performance of the quasi sliding mode controller. The proposed controller structure updates the controller parameters depending on the predicted disturbance magnitude and position error. The results show that the real-time performance of the quasi sliding mode controller is improved by the change of the proposed control structure.

Keywords: Minimally invasive surgery; catheter; frictional driving; sliding mode control; fuzzy logic

Başlık: Kateter Tahrik Sisteminin Kayma Kipli Kontrolü ve Bulanık Mantık ile Performans İyileştirmesi

Özet: Kateterler bronkoskopi, kolonoskopi, anjiyografi gibi medikal uygulamalarda kullanılmaktadır. Kateterler bu işlemlerde direk olarak doku ile temas ettiklerinden dolayı hareketlerinin kontrollü olması gerekmektedir. Bu çalışmada kateterin ilerlemesinin kontrol etmek için kullanılabilecek üç farklı kayan kipli kontrolcü önerilmiştir. Bunlar klasik kayan kipli kontrolcü, yarı kayan kipli kontrolcü ve asimtotik kayan kipli kontrolcü yapılarıdır. Kontrolcülerin performans karşılaştırılması kapalı çevirim sistem cevabı incelenerek yapılmıştır. Sonuçlar yarı kayma kipli kontrolcünün performansının diğer kontrolcülerden daha iyi olduğunu göstermiştir. Yarı kayma kipli kontrolcünün performansının iyileştirilmesi için bulanık mantık tabanlı bir üst seviye kontrolcüsü kullanılması önerilmiştir. Önerilen kontrolcü yapısı tahmin edilen bozucu girdi genliği ve pozisyon hatasına baglı olarak kontrolcü parametrelerini güncellemektedir. Elde edilen sonuçlar yarı kayma kipli kontrolcünün gerçek zamanlı performansının önerilen kontrol yapısı değişikliği ile iyileştiğini göstermektedir.

Anahtar kelimeler: Minimal invaziv cerrahi; kateter; sürtünmeli sürüş; kayma kipli kontrol; bulanık mantık

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