Fuzzy PID Control With \alpha Factor for Medical Robot of Radio Frequency Ablation

Radio frequency ablation is a simple, safe and potentially effective treatment for patients with liver tumors. Despite all recent therapeutic advancements, however, intra-procedural target localization, precise and consistent placement of the tissue ablator device are still unresolved problems. Therefore, we study radio frequency liver tumors ablation medical robot that typically require precise placement of the ablator tool to meet the predefined planning and lead to efficient tumors destruction. But, it is very difficult for the robot arm to track moving tumor in real-time with accuracy, because the moving tumor moves in nonlinear and uncertainty. This paper proposes a new method of fuzzy PID controller with a factor. This method is based on fuzzy logic technique which is considered much more appropriate when precise mathematical formulation is infeasible or difficult to achieve. The main performance of this controller is the ability to effectively and efficiently tune the control parameters. The experimental results have shown that the control system of the medical robot has achieved desired dynamic characteristics and static characteristic