Blog Post

# Mahdieh Babaiasl Attended 2019 Academic Showcase at WSU

Mahdieh Babaiasl participated in the annual 2019 Research Expo held by Washington State University. At this Expo, Researchers present their research to the general public and researchers from different disciplines.

In this event, Mahdieh presented her research on Waterjet Steerable Needles that received quite an attention from the audience.

## Abstract of the Proposal:

Water-jet technology has recently been used in medical applications such as surgery for dissection of organs, dentistry, bone cutting, and wound debridement.

Measuring, and controlling the depth of cut of the waterjet is important for medical applications.

For example, in surgical applications using waterjet, selective cutting is a must, and water-jet should cut the desired layer and should not go further, and this requirement dictates a predictive model for it.

We have experimentally studied the effect of tissue stiffness, needle diameter, and waterjet speed on cut-depth.

Experimental results showed that cut-depth has a direct relationship with flow rate and an inverse relationship with an elastic modulus of the tissue and needle diameter.

A finite element model is developed to predict the cut-depth.

In order to have a mathematical relation for control purposes, a predictive mechanics-based model is also developed for depth of cut as a function of tissue properties (toughness, and constitutive response) and waterjet-needle properties (diameter, and velocity of water-jet).

The results showed that the finite element model and mathematical model give a reasonable prediction of depth of cut of water-jet in soft tissue.

The developed mathematical model can work for all soft tissues given their toughnesses, and shear moduli.

This work is really significant for applications such as waterjet-assisted surgery to selectively cut tissue layers in order to avoid injury, water-jet steerable needles in which a flexible needle is guided in curved paths cut by water-jet through human anatomy, and any waterjet-assisted medical application where controlling the cut-depth is important.

## Presentation files:

Below are the PowerPoint files of the horizontal and vertical posters although she decided to use the vertical one. Feel free to use the poster format in case you are interested.

You can see the other posts on waterjet steerable needles in the link below:

https://www.mecharithm.com/category/learning-robotics-mechatronics/robot-categories/steerable-needles-learning/

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