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International Journal of Computer Assisted Radiology and Surgery

Published in:

01-01-2019 | Original Article

MR-conditional steerable needle robot for intracerebral hemorrhage removal

Authors: Yue Chen, Isuru S. Godage, Saikat Sengupta, Cindy Lin Liu, Kyle D. Weaver, Eric J. Barth

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 1/2019

Abstract

Background

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.

Methods

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.

Results

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.

Conclusion

MRI-guided steerable needle robotic system is a potentially feasible approach for ICH treatment by providing accurate needle guidance and intraoperative surgical outcome evaluation.

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Title: MR-conditional steerable needle robot for intracerebral hemorrhage removal
Authors: Yue Chen
Isuru S. Godage
Saikat Sengupta
Cindy Lin Liu
Kyle D. Weaver
Eric J. Barth
Publication date: 01-01-2019
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 1/2019
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-018-1854-z

Keynote webinar | Spotlight on sleep in brain health

Springer Medicine

MR-conditional steerable needle robot for intracerebral hemorrhage removal

Abstract

Background

Methods

Results

Conclusion

Keynote webinar | Spotlight on sleep in brain health

Springer Medicine

Abstract

Background

Methods

Results

Conclusion

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Acknowledgement to reviewers

Guest editorial of the IJCARS—BVM 2018 special issue