Screw Motion and Exponential Coordinates of Robot Motions

Screw Motion and Exponential Coordinates of Robot Motions

This lesson is part of the series of lessons on foundations necessary to express robot motions. For the complete comprehension of the Fundamentals of Robot Motions and the tools required to represent the configurations, velocities, and forces causing the motion, please read the following lessons (note that more lessons will be added in the future): https://www.mecharithm.com/category/fundamentals-of-robotics/fundamentals-of-robot-motions/ Also, reading some lessons from the Fundamentals of Robotics course are deemed invaluable. In this lesson, we will see an introduction to screw motion in robotics, and we will also see how we can define exponential coordinates for robot motions. This is the first lesson on…
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Heat Treatment of Nitinol for Different Stylet Shapes

Heat Treatment of Nitinol for Different Stylet Shapes

In this post you will learn about an approach to fabricate different stylet shapes for our proposed stylet and tube steerable needles using heat treatment of the Nitinol (a Shape Memory Alloy SMA). Our lab developed a new class of steerable needles called Stylet and Tube Steerable Needles in which the direction of the tissue fracture is controlled by the inner Stylet followed by the outer tube to help steer the needle. Stylet and Tube Steerable Needles The shape of the stylet and the step length determine the radius of curvature of the steerable needle. For this reason, we have…
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Resultant Radius of Curvature of Stylet and Tube Steerable Needles

Resultant Radius of Curvature of Stylet and Tube Steerable Needles

Our paper "Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle" is accepted to be published at the proceedings of the International Conference on Intelligent Robots and Systems (IROS) which is scheduled to be held on Sun, Oct 25, 2020 โ€“ Thu, Oct 29, 2020 at Las Vegas, NV (most likely it will be virtual because of the Pandemic). The contributors of this project are Fan Yang, and Mahdieh Babaiasl who conducted the research under the supervision of Dr. John Swensen. Stylet-and-Tube Steerable Needles. The combined radius of curvature…
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Madi Successfully Defended Her Ph.D. in Mechanical Engineering ๐Ÿฅณ

Madi Successfully Defended Her Ph.D. in Mechanical Engineering ๐Ÿฅณ

PhD Defence in Mechanical Engineering On July 22nd, Madi has successfully defended her PhD in Mechanical Engineering. It all started out with a virtual defence. Her presentation took about an hour and then the committee questioned her for another hour! They finally announced that she is now Dr. Babaiasl. Hurrah! She got to finish hr PhD in Mechanical Engineering successfully! Graduation Photos The Commencement this year is all virtual (Bummer)! However, Madi had the chance to wear the Doctoral Gown and Tam! It took her 20+ years to wear these beauties! Cheers! ๐Ÿฅ‚๐Ÿป๐Ÿพ BUT she is not done yet! ๐Ÿ˜†…
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Fracture-Directed Steerable Needles

Fracture-Directed Steerable Needles

Our paper entitled "Fracture-Directed Steerable Needles" is published in the Journal of Medical Robotics Research. The authors of this manuscript are Fan Yang, Mahdieh Babaiasl, and John Swensen. Abstract of the "Fracture-Directed Steerable Needles" Steerable needles hold the promise of improving the accuracy of both therapies and biopsies as they are able to steer to a target location around obstructions, correct for disturbances, and account for movement of internal organs. However, their ability to make late-insertion corrections has always been limited by the lower bound on the attainable radius of curvature. This project involves a new class of steerable needle…
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Mahdieh Babaiasl Was an Invited Speaker to WSU’s Seminar Series

Mahdieh Babaiasl Was an Invited Speaker to WSU’s Seminar Series

On 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 small radius of curvature and being able to control both radius of curvature and tip travel are of paramount importance in steerable needles to accomplish the increase in…
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Mahdieh Babaiasl Attended 2019 Academic Showcase at WSU

Mahdieh Babaiasl Attended 2019 Academic Showcase at WSU

Mahdieh Babaiasl participated in 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 attention from the audience. Poster of the Event: 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 depth of cut of water-jet is important for medical applications. For example, in surgical applications using water-jet, selective cutting is…
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Mahdieh Babaiasl Was Chosen to Represent MME Department at WSU’s 3 Minute Research Competition

Mahdieh Babaiasl Was Chosen to Represent MME Department at WSU’s 3 Minute Research Competition

Mahdieh Babaiasl have been chosen to represent Mechanical and Materials Engineering Department at WSU's 2019 3 minute research competition. Abstract of the proposal for the competition is as follows: 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 depth of cut of water-jet is important for medical applications. For example, in surgical applications using water-jet, 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…
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Waterjet Steerable Needles’ Abstract Published in WSU’s Website

Waterjet Steerable Needles’ Abstract Published in WSU’s Website

Our abstract entitled "WATERJET STEERABLE NEEDLES: A NEW PROMISE FOR IMPROVING MEDICAL PROCEDURES" about waterjet steerable needles is accepted for WSU's this year Academic Showcase but the actual event is not held because of the outbreak of the COVID-19. Mahdieh Babaiasl, and Fan Yang are presenters of this abstract under the supervision of Dr. John Swensen. Abstract of the Waterjet Steerable Needle Steerable needles are a type of medical devices that can steer around obstacles to reach to a target location within patient anatomy and thus can improve the accuracy of medical procedures. Radius of curvature is an important parameter…
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