MR-conditional steerable needle robot for intracerebral hemorrhage removal

International Journal of Computer Assisted Radiology and Surgery
Yue ChenEric J Barth

Abstract

Intracerebral hemorrhage (ICH) is one of the deadliest forms of stroke in the USA. Conventional surgical techniques such as craniotomy or stereotactic aspiration disrupt a large volume of healthy brain tissue in their attempts to reach the surgical site. Consequently, the surviving patients suffer from debilitating complications. We fabricated a novel MR-conditional steerable needle robot for ICH treatment. The robot system is powered by a custom-designed high power and low-cost pneumatic motor. We tested the robot's targeting accuracy and MR-conditionality performance, and performed phantom evacuation experiment under MR image guidance. Experiments demonstrate that the robotic hardware is MR-conditional; the robot has the targeting accuracy of 1.26 ± 1.22 mm in bench-top tests. With real-time MRI guidance, the robot successfully reached the desired target and evacuated an 11.3 ml phantom hematoma in 9 min. MRI-guided steerable needle robotic system is a potentially feasible approach for ICH treatment by providing accurate needle guidance and intraoperative surgical outcome evaluation.

References

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Feb 1, 2017·IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division·Yue ChenZion Tsz Ho Tse
Dec 1, 2017·IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division·Yue ChenEric J Barth

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Citations

Nov 1, 2018·Annals of Biomedical Engineering·Yue ChenHong Yu
Jun 21, 2019·Annals of Biomedical Engineering·Yue ChenSaikat Sengupta
Aug 29, 2020·Annals of Biomedical Engineering·Qingyu XiaoYue Chen

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