Many modern clinical practices involve percutaneous needle insertion. Today, medical robotics may offer methods for improving such practices. This paper develops a controller to ensure that a needle tip tracks a trajectory beginning in a non-contact position and ending within viscoelastic tissue. Through employment of a sliding mode controller and a neural network (NN), the controller guarantees semi-global asymptotic tracking of the desired trajectory. A Lyapunov-based stability analysis and a simulation are provided.
- Dynamic Systems and Control Division
Robotic Needle Insertion Into Viscoelastic Tissue
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Laplassotte, C, Cheng, TH, Bellman, M, Dixon, WE, & Bayle, B. "Robotic Needle Insertion Into Viscoelastic Tissue." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 439-447. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8705
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