Continuous Higher Order Sliding Mode Control of Bevel-Tip Needle for Percutaneous Interventions

Abstract

The major challenge in percutaneous interventions involving rigid needles are to assure accuracy in target reaching and stability. Human factor such as breathing process and human errors along with image distortion during needle deformation process can lead to the abovementioned challenges. Thus, in this piece of work, a robust second order sliding mode controller called super twisting algorithm to ensure chattering free response of the bevel tip flexible needle motion is proposed. Through the kinematic model of the bevel tip needle, the performance of the proposed controller is tested. Furthermore, the comparison study through extensive simulations are also performed with conventional sliding mode controller. From the results, it is observed that the stable maneuvering performance of the needle due to the proposed algorithm will be suitable for real-time clinical scenarios involving minimal invasive surgeries.