Adaptive energy shaping control of robotic needle insertion

This work studies the control of a pneumatic actuator for needle insertion in soft tissue without using axial rotation or additional supports. Employing simplified rigid-link model description an axial-symmetric tip supported at base, two energy shaping controllers are proposed. The friction forces compensated adaptively and stability conditions closed-loop equilibrium discussed. compared by means simulations experiments on different silicone rubber phantoms. results indicate that proposed effectively compensate actuator's friction, which is comparable to chosen actuators. first controller only depends position thus it achieves prescribed depth but larger corresponding deflection. second also accounts bending plane, can consequently be reduced over 70% this specific system. achieved modulating force and, case harder phantoms, automatically limiting depth.