Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applica
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ORIGINAL ARTICLE
Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications Mahdieh Babaiasl1
· Stefano Boccelli2 · Yao Chen3 · Fan Yang1 · Jow-Lian Ding3 · John P. Swensen1
Received: 23 August 2019 / Accepted: 26 April 2020 © International Federation for Medical and Biological Engineering 2020
Abstract The use of waterjet technology is now prevalent in medical applications including surgery, soft tissue resection, bone cutting, waterjet steerable needles, and wound debridement. The depth of the cut (DOC) of a waterjet in soft tissue is an important parameter that should be predicted in these applications. For instance, for waterjet-assisted surgery, selective cutting of tissue layers is a must to avoid damage to deeper tissue layers. For our proposed fracture-directed waterjet steerable needles, predicting the cut depth of the waterjet in soft tissue is important to develop an accurate motion model, as well as control algorithms for this class of steerable needles. To date, most of the proposed models are only valid in the conditions of the experiments and if the soft tissue or the system properties change, the models will become invalid. The model proposed in this paper is formulated to allow for variation in parameters related to both the waterjet geometry and the tissue. In this paper, first the cut depths of waterjet in soft tissue simulants are measured experimentally, and the effect of tissue stiffness, waterjet velocity, and nozzle diameter are studied on DOC. Then, a model based on the properties of the tissue and the waterjet is proposed to predict the DOC of waterjet in soft tissue. In order to verify the model, soft tissue properties (constitutive response and fracture toughness) are measured using low strain rate compression tests, Split-HopkinsonPressure-Bar (SHPB) tests, and fracture toughness tests. The results show that the proposed model can predict the DOC of waterjet in soft tissue with acceptable accuracy if the tissue and waterjet properties are known. Keywords Depth of cut · Waterjet · Fracture mechanics · Ogden model · Waterjet-assisted surgery · Steerable needles
1 Introduction The use of waterjets in strong solids has been used for decades in manufacturing and machining. Models have already been developed for depth of cut of waterjet in strong solids [18, 26, 42, 60–63]. Wang et al. [61] developed a predictive model for depth of cut of abrasive waterjet in alumina ceramics using a dimensional analysis technique. Other researchers used solid particle erosive theories [63], an energy conservation approach [62], fracture mechanics [18], and dimensional analysis [60] to predict the DOC of waterjet in hard solids. In all of these models, the constants are found by cutting tests, so they are mostly dependent on the experiments. On the other hand, the models developed Mahdieh Babaiasl
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for strong solids are not applicable to so
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