Ablation tests, exposure test

Ablation tests were carried out at Edwards AFB, CA in a mock solid rocket motor firing rig. 7 by 3 triangular samples were compression molded at 246°C and 200 kPa pressure for 5 minutes. Tests were then performed in a 4 diameter char motor as shown in Figure 1 operating at a Mach number range of 0.25 to 0.012 and a mass flux range from 13.8 to 0.69 kPa/s and a chamber pressure of 4.4 MPa and 3000°C. The ablation rate is determined by the change in thickness of the samples after an 8-second exposure in the combustion chamber. Additional details can be found in reference 23. 

Solomon et al. (2002) used the PAKY robotic system in 16 patients during CT-guided procedures. The accuracy in the phantom calibration test was 0.6° angular and 1.65 mm linear. All 23 procedures (RF ablation, core needle biopsy, nephrostomy, and neobladder access) were performed successfully without complication. However, in four cases, the target was not met adequately, and fine-tuning adj ustment with joystick control was required to ultimately reach the target. In all cases, however, the study showed that the use of the robot reduced radiation exposure for the patient and medical personnel. 

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