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MR-conditional steerable needle robot for intracerebral hemorrhage removal

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

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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Acknowledgements

This work was funded by the National Institutes of Health: Grant R21NS091735-01.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA

    Yue Chen

  2. School of Computing, DePaul University, Chicago, IL, USA

    Isuru S. Godage

  3. Department of Radiology and Radiological Sciences, Vanderbilt University, Nashville, TN, USA

    Saikat Sengupta

  4. Department of Neurological Surgery, Vanderbilt Medical Center, Nashville, TN, USA

    Kyle D. Weaver

  5. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA

    Cindy Lin Liu & Eric J. Barth

Authors
  1. Yue Chen
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  2. Isuru S. Godage
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  3. Saikat Sengupta
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  4. Cindy Lin Liu
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  5. Kyle D. Weaver
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  6. Eric J. Barth
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Correspondence to Yue Chen.

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The authors declare that they have no conflict of interest.

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This article does not contain any studies with human participants or animals performed by any of the authors.

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Chen, Y., Godage, I.S., Sengupta, S. et al. MR-conditional steerable needle robot for intracerebral hemorrhage removal. Int J CARS 14, 105–115 (2019). https://doi.org/10.1007/s11548-018-1854-z

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  • DOI: https://doi.org/10.1007/s11548-018-1854-z

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