{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,19]],"date-time":"2025-09-19T08:30:42Z","timestamp":1758270642338},"reference-count":29,"publisher":"IGI Global","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012,4,1]]},"abstract":"<p>Manual operation of steerable catheter is inaccurate in minimally invasive surgery, requiring dexterity for efficient manipulation of the catheter, and it exposes the surgeons to intense radiation. The authors\u2019 objectives are to develop a robotic catheter manipulating system that replaces the surgeons with high accuracy. Increasing demands for flexibility and fast reactions in a control method, fuzzy control (FC) can play an important role because the experience of experts can be combined in the fuzzy control rules to be implemented in the systems. They present a practical application of a fuzzy PID control to this developed system during the remote operations and compare with the traditional PID (Proportional-Integral-Derivative Controllers) control experimentally. The feasibility and effectiveness of the control method are demonstrated. The synchronous manipulation performance with the fuzzy PID control is much better than using the conventional PID control method during the remote operations.<\/p>","DOI":"10.4018\/ijimr.2012040105","type":"journal-article","created":{"date-parts":[[2012,12,11]],"date-time":"2012-12-11T16:16:17Z","timestamp":1355242577000},"page":"58-77","source":"Crossref","is-referenced-by-count":22,"title":["Development of a Novel Robotic Catheter Manipulating System with Fuzzy PID Control"],"prefix":"10.4018","volume":"2","author":[{"given":"Xu","family":"Ma","sequence":"first","affiliation":[{"name":"Kagawa University, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuxiang","family":"Guo","sequence":"additional","affiliation":[{"name":"Kagawa University, Japan, and Harbin Engineering University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nan","family":"Xiao","sequence":"additional","affiliation":[{"name":"Kagawa University, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian","family":"Guo","sequence":"additional","affiliation":[{"name":"Kagawa University, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shunichi","family":"Yoshida","sequence":"additional","affiliation":[{"name":"Kagawa University, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takashi","family":"Tamiya","sequence":"additional","affiliation":[{"name":"Kagawa University, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masahiko","family":"Kawanishi","sequence":"additional","affiliation":[{"name":"Kagawa University, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"2432","reference":[{"issue":"3","key":"ijimr.2012040105-0","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1007\/s10840-005-0325-y","article-title":"Early experience with a computerized robotically controlled catheter system.","volume":"12","author":"A. A.Amin","year":"2005","journal-title":"Journal of Interventional Cardiac Electrophysiology"},{"key":"ijimr.2012040105-1","doi-asserted-by":"crossref","unstructured":"Arai, F., Fujimura, R., Fukuda, T., & Negoro, M. (2002). New catheter driving method using linear stepping mechanism for intravascular neurosurgery. In Proceedings of the IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2944-2949).","DOI":"10.1109\/ROBOT.2002.1013679"},{"issue":"1","key":"ijimr.2012040105-2","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1016\/S0165-0114(02)00502-X","article-title":"Determining fuzzy membership functions with Tabu search-an application to control.","volume":"139","author":"A.Bagis","year":"2003","journal-title":"Fuzzy Sets and Systems"},{"issue":"1-2","key":"ijimr.2012040105-3","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1016\/S0924-0136(00)00773-1","article-title":"Fuzzy control systems with application to machining processes.","volume":"109","author":"G. E.D\u2019Errico","year":"2001","journal-title":"Journal of Materials Processing Technology"},{"issue":"6","key":"ijimr.2012040105-4","doi-asserted-by":"crossref","first-page":"659","DOI":"10.1111\/j.1540-8167.2005.40317.x","article-title":"Remote catheter ablation of parahisian accessory pathways using a novel magnetic navigation system-a report of two cases.","volume":"16","author":"S.Ernst","year":"2005","journal-title":"Journal of Cardiovascular Electrophysiology"},{"issue":"3-4","key":"ijimr.2012040105-5","first-page":"143","article-title":"The master-slave catheterisation system for positioning the steerable catheter.","volume":"1","author":"Y. L.Fu","year":"2011","journal-title":"International Journal of Mechatronics and Automation"},{"key":"ijimr.2012040105-6","doi-asserted-by":"crossref","unstructured":"Guo, J., Guo, S., Xiao, N., Ma, X., Yoshida, S., Tamiya, T., & Kawanishi, M. (2011). Feasibility study for a novel robotic catheter system. In Proceeding of the IEEE International Conference on Mechatronics and Automation (pp. 205-210).","DOI":"10.1109\/ICMA.2011.5985657"},{"key":"ijimr.2012040105-7","article-title":"A novel robotic catheter system with force and visual feedback for vascular interventional surgery.","author":"J.Guo","journal-title":"International Journal of Mechatronics and Automation"},{"key":"ijimr.2012040105-8","doi-asserted-by":"crossref","unstructured":"Guo, J., Guo, S., Xiao, N., Yoshida, S., Tamiya, T., & Kawanishi, M. (2011). Characteristics evaluation of the novel robotic catheter system. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (pp. 258-262).","DOI":"10.1109\/ROBIO.2011.6181295"},{"key":"ijimr.2012040105-9","doi-asserted-by":"crossref","unstructured":"Ikeda, S., Arai, F., Fukuda, T., Kim, E. H., Negoro, M., Irie, K., & Takahashi, I. (2005). In vitro patient-tailored anatomaical model of cerebral artery for evaluating medical robots and systems for intravascular neurosurgery. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (pp.1558-1563).","DOI":"10.1109\/IROS.2005.1545554"},{"issue":"5","key":"ijimr.2012040105-10","first-page":"250","article-title":"Robotic positioning of standard electrophysiology catheters: A novel approach to catheter robotics.","volume":"20","author":"B.Knight","year":"2008","journal-title":"The Journal of Invasive Cardiology"},{"issue":"1","key":"ijimr.2012040105-11","first-page":"19","article-title":"Initial experience of catheter ablation using a novel remotely steerable cat.heter sheath system.","volume":"21","author":"W. M.Koa","year":"2007","journal-title":"Journal of American Heart Association"},{"issue":"1","key":"ijimr.2012040105-12","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1016\/S1568-4946(02)00026-1","article-title":"Fuzzy logic control for flexible link robot arm by singular perturbation approach.","volume":"2","author":"K. Y.Kuo","year":"2002","journal-title":"Applied Soft Computing"},{"issue":"14","key":"ijimr.2012040105-13","doi-asserted-by":"crossref","first-page":"1497","DOI":"10.1016\/S0890-6955(03)00166-4","article-title":"Fuzzy control of spindle torque for industrial CNC machining.","volume":"43","author":"M.Liang","year":"2003","journal-title":"International Journal of Machine Tools & Manufacture"},{"key":"ijimr.2012040105-14","doi-asserted-by":"crossref","unstructured":"Ma, X., Guo, S., Xiao, N., Guo, J., & Yoshida, S. (2011). Development of a PID controller for a novel robotic catheter system. In Proceedings of the IEEE\/ICME International Conference on Complex Medical Engineering (pp. 64-68).","DOI":"10.1109\/ICCME.2011.5876706"},{"key":"ijimr.2012040105-15","doi-asserted-by":"crossref","unstructured":"Ma, X., Guo, S., Xiao, N., Guo, J., Yoshida, S., Tamiya, T., & Kawanishi, M. (2011). Development of a novel robot-assisted catheter system with force feedback. In Proceeding of the IEEE International Conference on Mechatronics and Automation (pp. 107-111).","DOI":"10.1109\/ICMA.2011.5985640"},{"issue":"12","key":"ijimr.2012040105-16","doi-asserted-by":"crossref","first-page":"1585","DOI":"10.1049\/piee.1974.0328","article-title":"Application of fuzzy algorithms for control of simple dynamic plant.","volume":"121","author":"E. H.Mamdani","year":"1974","journal-title":"Proceedings of the Institution of Electrical Engineers"},{"key":"ijimr.2012040105-17","unstructured":"Nainggolan, L. (2008). First look at robotic catheter system for AF ablation. Arrhythmia-Electrophysiology (e-magazine)."},{"key":"ijimr.2012040105-18","doi-asserted-by":"crossref","unstructured":"Nguyen, B. L., Merino, J. L., & Gang, E. S. (2010). Remote navigation for ablation procedures. European Cardiology, 6(3), 50-56. Retrieved from http:\/\/www.magnetecs.com","DOI":"10.15420\/ecr.2010.6.3.50"},{"issue":"7","key":"ijimr.2012040105-19","doi-asserted-by":"crossref","first-page":"1390","DOI":"10.1016\/j.jacc.2005.11.058","article-title":"Robotic magnetic navigation for atrial fibrillation ablation.","volume":"47","author":"C.Pappone","year":"2006","journal-title":"Journal of the American College of Cardiology"},{"issue":"2-3","key":"ijimr.2012040105-20","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1016\/j.sna.2004.04.057","article-title":"A micro optical force sensor for force feedback during minimally invasive robotic surgery.","volume":"115","author":"J.Peirs","year":"2004","journal-title":"Sensors and Actuators. A, Physical"},{"issue":"25","key":"ijimr.2012040105-21","doi-asserted-by":"crossref","first-page":"2407","DOI":"10.1016\/j.jacc.2008.03.027","article-title":"Atrial fibrillation ablation using a robotic catheter remote control system: Initial human experience and long-term follow-up results.","volume":"51","author":"W.Saliba","year":"2008","journal-title":"Journal of the American College of Cardiology"},{"issue":"2","key":"ijimr.2012040105-22","doi-asserted-by":"crossref","first-page":"160","DOI":"10.1002\/rcs.301","article-title":"Design and fabrication of a robotic mechanism for remote steering and positioning of interventional devices.","volume":"6","author":"V. G.Srimath","year":"2010","journal-title":"International Journal of Medical Robotics and Computer Assisted Surgery"},{"issue":"2","key":"ijimr.2012040105-23","first-page":"65","article-title":"A linear output structure for fuzzy logic controllers.","volume":"131","author":"H.Sun","year":"2002","journal-title":"Fuzzy Sets and Systems"},{"issue":"7","key":"ijimr.2012040105-24","doi-asserted-by":"crossref","first-page":"1901","DOI":"10.1109\/TBME.2009.2017203","article-title":"Design and performance evaluation of a remote catheter navigation system.","volume":"56","author":"Y.Thakur","year":"2009","journal-title":"IEEE Transactions on Bio-Medical Engineering"},{"issue":"2","key":"ijimr.2012040105-25","doi-asserted-by":"crossref","first-page":"194","DOI":"10.1002\/rcs.306","article-title":"Remote-controlled vascular interventional surgery robot.","volume":"6","author":"T. M.Wang","year":"2010","journal-title":"Journal of Medical Robotics and Computer Assisted Surgery"},{"key":"ijimr.2012040105-26","doi-asserted-by":"crossref","unstructured":"Xiao, N., & Guo, S. (2011). Design and simulation of a MRAC controller for a human-scale tele-operating system. In Proceedings of the IEEE International Conference on Mechatronics and Automation (pp. 1843-1849).","DOI":"10.1109\/ICMA.2011.5986260"},{"key":"ijimr.2012040105-27","doi-asserted-by":"crossref","unstructured":"Xiao, N., Guo, S., Guo, J., Xiao, X. X., & Tamiya, T. (2011). Development of a kind of robotic catheter manipulation system. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (pp. 32-37).","DOI":"10.1109\/ROBIO.2011.6181258"},{"key":"ijimr.2012040105-28","author":"J.Yan","year":"1994","journal-title":"Using fuzzy logic: Towards intelligent systems"}],"container-title":["International Journal of Intelligent Mechatronics and Robotics"],"original-title":[],"language":"ng","link":[{"URL":"https:\/\/www.igi-global.com\/viewtitle.aspx?TitleId=68864","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,5,3]],"date-time":"2024-05-03T04:37:08Z","timestamp":1714711028000},"score":1,"resource":{"primary":{"URL":"https:\/\/services.igi-global.com\/resolvedoi\/resolve.aspx?doi=10.4018\/ijimr.2012040105"}},"subtitle":[""],"short-title":[],"issued":{"date-parts":[[2012,4,1]]},"references-count":29,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2012,4]]}},"URL":"https:\/\/doi.org\/10.4018\/ijimr.2012040105","relation":{},"ISSN":["2156-1664","2156-1656"],"issn-type":[{"value":"2156-1664","type":"print"},{"value":"2156-1656","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,4,1]]}}}