Needle steering is a technology for guiding needles around sensitive internal obstacles in minimally invasive surgery. Traditional techniques apply rotation at the base of a needle with an asymmetric tip, enabling steering through the redirection of radial forces. Magnetic steering of catheters and continuum manipulators is another technology that allows steering of a shaft in the body. Both of these techniques rely on mechanical or manual shaft advancement methods. Needle steering has not achieved widespread clinical use due to several limitations: 1- buckling and compression effects in the shaft and needle rotation cause excessive tissue damage; 2- torsion effects on the shaft and needle deflection at tissue boundaries lead to difficulty in control; and 3- restricted radius of curvature results in limited workspace. Magnetically steered catheters and continuum manipulators also suffer from limited curvature and the possibility of buckling. This paper proposes a novel needle steering method empowered by electromagnetic actuation that overcomes all of the aforementioned limitations, making it a promising option for further study toward healthcare applications.

The problem of relative motion control of spacecraft rendezvous process on elliptical orbit is considered in this paper. Due to the presence of nonlinear dynamics and external disturbances, two robust controllers are developed based on sliding mode control theory. The first one is an optimal sliding mode controller; in which optimal control theory is used to reduce the tracking error and fuel cost, and then integral sliding mode control technique is applied to robustify optimal controller. The other controller is a backstepping sliding mode one that is developed based on nonlinear dynamics of spacecraft rendezvous; having applied the backstepping method to synthesis the tracking errors and Lyapunov functions, a sliding mode controller is developed to guarantee the Lyapunov stability, handling of all nonlinearities, robustness against uncertainties as well as tracking the desired position. It is assumed that the chaser and target spacecraft are in a low Earth orbit and subject to the perturbing effects of J2 and atmospheric drag. In addition, two fault tolerant scenarios, i.e. thruster degradation and short thruster failure are also considered to verify the robustness and efficacy of the control approaches. Simulation results confirm the effectiveness of the proposed controllers in reaching to the desired position in case of actuator fault-free and fault tolerant situations.