{"id":946,"date":"2020-06-25T21:48:24","date_gmt":"2020-06-26T04:48:24","guid":{"rendered":"http:\/\/labs.wsu.edu\/m3robotics\/?p=946"},"modified":"2020-06-25T21:49:15","modified_gmt":"2020-06-26T04:49:15","slug":"fracture-directed-waterjet-needle-steering","status":"publish","type":"post","link":"https:\/\/labs.wsu.edu\/m3robotics\/fracture-directed-waterjet-needle-steering\/","title":{"rendered":"Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning Accepted for Proceedings of BioRob 2020"},"content":{"rendered":"\r\n

Our paper<\/a> on fracture-directed waterjet needle steering is accepted to be presented at BioRob 2020<\/a> and also to be published in IEEE.<\/p>\r\n\r\n\r\n\r\n

The contributors of this paper are Mahdieh Babaias<\/a>l, Stefano Bocelli, and Fan Yang under the supervision of Dr. John Swensen.<\/p>\r\n\r\n\r\n\r\n

The abstract of this paper is:<\/p>\r\n\r\n\r\n\r\n

Steerable needle<\/a> technology has the promise of improving outcomes by enhancing the accuracy of different therapies and biopsies, as they can be steered to a target location around obstacles.<\/p>\r\n\r\n\r\n\r\n

Achieving small radius of curvature and being able to control both radius of curvature and tip travel are of paramount importance in steerable needles<\/a> to accomplish the increase in efficacy of the medical procedures.<\/p>\r\n\r\n\r\n\r\n

In this paper, we present a new class of the steerable needles<\/a>, which we call waterjet-directed steerable needles, where the underlying principle is to first control the direction of tissue fracture with waterjet, after which the needle will follow during subsequent insertion.<\/p>\r\n\r\n\r\n\r\n

In this paper, the direction of the tissue fracture is controlled by an angled waterjet nozzle and control of the water velocity, and then the flexible Nitinol needle follows.<\/p>\r\n\r\n\r\n\r\n

It is shown that by changing the velocity of waterjet and thus depth of cut, radius of curvature can be controlled.<\/p>\r\n\r\n\r\n\r\n

A discrete-step kinematic model is used to model the motion of the waterjet steerable needle. This model consist of two parts: (1) the mechanics- based model predicts the cut-depth of waterjet in soft tissue based on soft tissue properties, waterjet diameter, and water exit velocity, and (2) a discrete-step kinematic unicycle model of the steerable needle travel.<\/p>\r\n\r\n\r\n\r\n

Path planning is accomplished through a genetic algorithm, and the efficacy of waterjet steerable needle is tested for different paths.<\/p>\r\n\r\n\r\n\r\n

The key finding of the paper is that the radius of curvature of the waterjet steerable needle can be controlled by a fixed waterjet tip angle and varying water exit velocity to control the depth of cut.<\/p>\r\n\r\n\r\n\r\n

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\"experimental_setup_waterjet\r\n
Experimental Setup of Waterjet Steerable Needle System<\/figcaption>\r\n<\/figure>\r\n<\/div>\r\n\r\n\r\n\r\n

You can see the full article on waterjet steerable needle system design, modeling, and path planning\u00a0HERE<\/a>!<\/span><\/h4>\r\n

 <\/p>\r\n\r\n\r\n\r\n

Video<\/a>\u00a0below shows the difference between Waterjet Needle and Traditional Needle:<\/strong>\u00a0<\/p>\r\n