Yue Chen1, Isuru S Godage2, Saikat Sengupta3, Cindy Lin Liu4, Kyle D Weaver5, Eric J Barth4. 1. Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA. yc039@uark.edu. 2. School of Computing, DePaul University, Chicago, IL, USA. 3. Department of Radiology and Radiological Sciences, Vanderbilt University, Nashville, TN, USA. 4. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA. 5. Department of Neurological Surgery, Vanderbilt Medical Center, Nashville, TN, USA.
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.
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.
Authors: Jessica Burgner; Philip J Swaney; Ray A Lathrop; Kyle D Weaver; Robert J Webster Journal: IEEE Trans Biomed Eng Date: 2013-04-30 Impact factor: 4.538
Authors: Yue Chen; Isuru S Godage; Zion Tsz Ho Tse; Robert J Webster; Eric J Barth Journal: IEEE ASME Trans Mechatron Date: 2017-11-01 Impact factor: 5.303
Authors: Jochen B Fiebach; Peter D Schellinger; Achim Gass; Thomas Kucinski; Mario Siebler; Arno Villringer; Peter Olkers; Jochen G Hirsch; Sabine Heiland; Philipp Wilde; Olav Jansen; Joachim Röther; Werner Hacke; Klaus Sartor Journal: Stroke Date: 2004-01-22 Impact factor: 7.914
Authors: Wei Wang; Akila N Viswanathan; Antonio L Damato; Yue Chen; Zion Tse; Li Pan; Junichi Tokuda; Ravi T Seethamraju; Charles L Dumoulin; Ehud J Schmidt; Robert A Cormack Journal: Med Phys Date: 2015-12 Impact factor: 4.071
Authors: Anthony L Gunderman; Ehud J Schmidt; Marc Morcos; Junichi Tokuda; Ravi T Seethamraju; Henry R Halperin; Akila N Viswanathan; Yue Chen Journal: IEEE ASME Trans Mechatron Date: 2021-03-09 Impact factor: 5.303