TY - GEN
T1 - Robotic needle insertion into viscoelastic tissue
AU - Laplassotte, C.
AU - Cheng, Teng-Hu
AU - Bellman, M.
AU - Dixon, W. E.
AU - Bayle, B.
PY - 2012
Y1 - 2012
N2 - 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 noncontact 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.
AB - 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 noncontact 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.
UR - http://www.scopus.com/inward/record.url?scp=84885927402&partnerID=8YFLogxK
U2 - 10.1115/DSCC2012-MOVIC2012-8705
DO - 10.1115/DSCC2012-MOVIC2012-8705
M3 - Conference contribution
AN - SCOPUS:84885927402
SN - 9780791845318
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 439
EP - 447
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -