Table I.

MICRON MODE REGULATION LOGIC

Condition	Puncture?	Operation Mode
$\frac{d{\overrightarrow{F}}_{\mathit{needle}}}{\mathit{dt}}\cdot \frac{d{\overrightarrow{p}}_{\mathit{needle}}}{\mathit{dt}}\le 0$	No	Only Tremor Canceling
$\frac{d{\overrightarrow{F}}_{\mathit{needle}}}{\mathit{dt}}\cdot \frac{d{\overrightarrow{p}}_{\mathit{needle}}}{\mathit{dt}}>0$	Yes	Active Position Holding