Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue
The paper introduces a preview-based controller for robot insertion tools to place neural electrodes in moving tissue, like the heart or lungs. It uses a Kalman filter to predict delayed motion and Model Predictive Control (MPC) to regulate the tool tip relative to that predicted surface. This method achieves very low placement errors, significantly outperforming traditional control methods by handling tissue movement proactively.