The relationship between mechanical properties and ballistic penetration depth in a viscoelastic gel

Mrozek, Randy A.; Leighliter, Brad; Gold, Christopher S.; Beringer, Ian R.; Yu, Jian; VanLandingham, Mark R.; Moy, Paul; Foster, Mark; Lenhart, Joseph L.

doi:10.1016/j.jmbbm.2015.01.001

Cited by 65 publications

(72 citation statements)

References 33 publications

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“…In shallow-seal cases, a scaling law of the form H ∝ (u 0 − u th )/ √ G (Swain et al 2014;Mrozek et al 2015), where u th is the minimum sphere speed required to form the cavity, might be applicable for describing the cavity length H. in figure 7a). This shows the shallow-seal data and the proposed relation to be in good agreement, suggesting the elastic Froude number Fr e is a good indicator for describing the length of the shallow-seal cavities.…”

Section: Discussionmentioning

confidence: 99%

Gelatine cavity dynamics of high-speed sphere impact

et al. 2019

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We investigate the impact and penetration of a solid sphere passing through gelatine at various impact speeds up to 143.2 m s −1 . Tests were performed with several concentrations of gelatine. Impacts for low elastic Froude number Fr e , a ratio between inertia and gelatine elasticity, resulted in rebound. Higher Fr e values resulted in penetration, forming cavities with prominent surface textures. The overall shape of the cavities resembles those observed in water-entry experiments, yet they appear in a different order with respect to increasing inertia: rebound, quasi-seal, deep-seal, shallow-seal and surface-seal. Remarkably, similar to the We-Bo phase diagram in water-entry experiments, the elastic Froude number Fr e and elastic Grashof number Gr e (a ratio between gravity and gelatine elasticity) classify all five different phenomena into distinguishable regimes. We find that Fr e can be a good indicator to describe the cavity length H, particularly in the shallow-seal regime. Finally, the evolution of cavity shape, pinch-off depth, and lower cavity radius are investigated for different Fr e values.

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Section: Discussionmentioning

confidence: 99%

Gelatine cavity dynamics of high-speed sphere impact

et al. 2019

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“…From the log-log plot of Young's modulus versus polymer fraction provided in Mrozek et al [28] we found that there is a power law relationship between the Young's modulus and the polymer fraction as follows:…”

Section: Tissue Preparationmentioning

confidence: 95%

“…Mineral oil is used as the solvent for this material. According to Mrozek et al [28], the stiffness of the tissue is not dependent on the supplier of the mineral oil. The authors used light mineral oil with density oil ¼ 0:85 g mL .…”

Section: Tissue Preparationmentioning

confidence: 99%

Fracture-Directed Steerable Needles

Yang

Babaiasl

Swensen

2019

J. Med. Robot. Res.

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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 paper presents a new class of steerable needle insertion where the objective is to first control the direction of tissue fracture with an inner stylet and later follow with the hollow needle. This method is shown to be able to achieve radius of curvature as low as 6.9[Formula: see text]mm across a range of tissue stiffnesses and the radius of curvature is controllable from the lower bound up to a near infinite radius of curvature based on the stylet/needle step size. The approach of “fracture-directed” steerable needles indicates the promise of the technique for providing a tissue-agnostic method of achieving high steerability that can account for variability in tissues during a typical procedure and achieve radii of curvature unattainable through current bevel-tipped techniques. A variety of inner stylet geometries are investigated using tissue phantoms with multiple stiffnesses and discrete-step kinematic models of motion are derived heuristically from the experiments. The key finding presented is that it is the geometry of the stylet and the tuning of the bending stiffnesses of both the stylet and the tube, relative to the stiffness of the tissue, that allow for such small radius of curvature even in very soft tissues.

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“…The solution is then poured into rectangular molds of dimensions 100 × 100 × 50 mm, then let to cool down in room temperature before removing from the molds. The Young's modulus of these tissue simulants can be found from (1), which we derived from the log-log plot of the Young's modulus versus polymer fraction figure presented in [25].…”

Section: A Tissue Preparationmentioning

confidence: 99%

Towards Water-Jet Steerable Needles

Babaiasl

Yang

Swensen

2018

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)

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Water-jet technology has been used extensively for decades industrially for many applications including mining, plastic, metal, stone, wood, and produce cutting. The use of water-jet in medical applications has been developed more recently and it is used for different applications such as soft tissue resection, bone cutting, wound debridement, and surgery. In this paper, a new application of water-jet technology in the medical field is proposed, namely water-jet cutting at the tip of a needle with a long-term goal of steerable needles. A needle insertion system is designed and built, which has a custom-designed water-jet nozzle attached to a Nitinol needle as its "needle". Insertions with and without water-jet into 10%, 15% and 20% Poly (styrene-b-ethylene-co-butylene-bstyrene) triblock copolymer (SEBS) tissue-mimicking simulants are performed and the associated force data is measured using a force sensor at the base of the needle. The results of force vs. displacement show that the water-jet reduces the insertion force associated with traditional needles by eliminating tip forces. In this paper, a custom-designed straight nozzle is used to show the feasibility of water-jet steerable needles, whereas future work will focus on steerability using steerable nozzles. Depth of cut as a function of fluid velocity is also measured for different volumetric flow rates. The results show that depth of cut is a linear function of fluid velocity when the width of the water-jet nozzle is sufficiently small and smooth.

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The relationship between mechanical properties and ballistic penetration depth in a viscoelastic gel

Cited by 65 publications

References 33 publications

Gelatine cavity dynamics of high-speed sphere impact

Gelatine cavity dynamics of high-speed sphere impact

Fracture-Directed Steerable Needles

Towards Water-Jet Steerable Needles

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