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Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable NeedlesRights Statements InC/1.0 , Open Access
Conference proceeding
Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles
International Symposium on Medical Robotics (ISMR), Atlanta, Georgia (11/18/2020 - 11/20/2020)
04/23/2020
Handle:
https://hdl.handle.net/2376/17723
Abstract
Steerable needles are a type of medical devices that can steer around obstacles to reach to a target location and thus can improve the accuracy of medical procedures. Radius-of-Curvature (ROC) is of paramount importance while designing steerable needles and achieving smaller radius and being able to control it is very important in evaluating the efficacy of the steerable needles. In this paper, the idea of a new class of steerable needle technology namely fracture- directed waterjet steerable needles is presented in which the direction of the tissue fracture is controlled by waterjet and then Nitinol tube follows. Needle steering tests are performed on two different stiffnesses of SEBS soft tissue simulants, as well as 10% by weight Knox Gelatin (Kraft Foods Global Inc., IL) as substitutes to real biological tissues. Curvature of the needle is controlled by waterjet duty cycling and it is shown that it can be controlled from about 0 (when waterjet is OFF at all steps) to maximum curvature (when waterjet is ON for all steps). It is concluded that the curvature is a linear function of the duty cycling and that the smallest ROC of the waterjet steerable needle (when waterjet is ON at all steps) is improved in comparison to the smallest ROC of traditional steerable needles in the same tissue phantom.
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Details
- Title
- Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles
- Creators
- Mahdieh Babaiasl (Author)Fan Yang (Author)John P. Swensen (Author)
- Conference
- International Symposium on Medical Robotics (ISMR), Atlanta, Georgia (11/18/2020 - 11/20/2020)
- Academic Unit
- Mechanical and Materials Engineering, School of
- Identifiers
- 99900502049601842
- Copyright
- In copyright ; openAccess ; http://rightsstatements.org/vocab/InC/1.0/ ; http://purl.org/eprint/accessRights/OpenAccess
- Language
- English
- Resource Type
- Conference proceeding