Table 2.

Comparison of different control strategies.

Reference	Control features	Limitations	Clinical/medical applications
Chatelain et al. [23]	Confidence-drive position control	Simplified ultrasound propagation model	General applications
Skerl et al. [24]	Pressure control	High weight	Abdomen
Kim et al. [25]	Force feedback	Limited force	Thyroid
Abolhassani et al. [26]	Trajectory planning	Slow velocity	Prostate therapy
Li et al. [27]	Trajectory planning	Lack of in vivo testing	Lumbar puncture
Böttger et al. [28]	Dexterity and kinematics	Simulations only	Microcirculation
Filippeschi et al. [29]	User interface including navigation	Remote conditions simulated only	Abdomen
Sénac et al. [31]	Review of pneumatic actuators control	No in vivo testing	Neonatal procedures
Gilbertson et al. [32]	Force and position control	Soft tissues	Muscular systems
Kaminski et al. [33]	Force feedback	Feasibility study	Thyroid diseases
Bucolo et al. [34]	Force feedback	Prototype only	Abdomen
Hadjikov et al. [35]	Model-based control	Simulations only	Abdominal fascia