Background
Methods
Characteristics of the needle insertion force
Coaxial needle
Needle insertion experimental setups
Experimental results
Discussion
Estimation of the friction force
Model of the insertion force
Design of the disturbance observer
Design of parameter variation method using RLS
Simulation conditions
Needle diameter d [m] | 1.60 × 10-3 | |
Needle mass m [kg] | 2.18 × 10-3 | |
Dynamic friction coefficient μ | 0.663 | 6.63 |
The Pressure of tissue to the needle P [N/m2] | 63.7 × 102 | |
The coefficient of velocity s | 197 |
Results
Estimation results
Phase | Average value [N] | Maximum error [N] |
---|---|---|
I | -0.05 | -0.13 |
II | -0.10 | -0.27 |
III | 0.24 | 0.29 |
Phase | RMSE [N] | |
---|---|---|
μ: 6.63 | μ: 6.63 × 1/10 | |
I | 0.07 | 0.07 |
II | 0.14 | 0.14 |
III | 0.24 | 0.24 |