In Nov. 2019, Mahdieh Babaiasl was invited to give a talk on Waterjet Steerable Needles at WSU’s Seminar Series at Tri-Cities Campus.
The topic of the talk was “Waterjet-assisted Needle Steering to be Used for Medical Applications”.
The abstract of the talk
Steerable needle 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.
Achieving a small radius of curvature and being able to control both radius of curvature and tip travel is of paramount importance in steerable needles to accomplish the increase in efficacy of the medical procedures.
In this talk, a new class of the steerable needles, which we call waterjet-directed steerable needles is presented, where the underlying principle is to first control the direction of tissue fracture, after which the needle will follow during subsequent insertion.
The direction of the tissue fracture is controlled by an angled waterjet nozzle and control of the water velocity.
In this method, the radius of curvature can be controlled from the lower bound to a near-infinite radius of curvature (straight insertion) by controlling the duty cycling of the water velocity, to control the depth of the waterjet cut.
A discrete-step kinematic model is used to model the motion of the waterjet steerable needle.
This model consists 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.
Path planning is accomplished through a genetic algorithm, and the efficacy of the waterjet steerable needle is tested for different paths.
An Excerpt of the One-hour Talk
In case you are interested, click HERE for the Powerpoint Presentation of the talk!
You can see the other posts on waterjet steerable needles in the link below:
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