Sliding Mode Control of Steerable Needles

  title={Sliding Mode Control of Steerable Needles},
  author={D. Caleb Rucker and Jadav Das and Hunter B. Gilbert and Philip J. Swaney and Michael I. Miga and Nilanjan Sarkar and Robert J. Webster},
  journal={IEEE Transactions on Robotics},
Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy requires no a priori knowledge of model parameters, has bounded input speeds, and requires little… CONTINUE READING
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