Non-Metallic MR-Guided Concentric Tube Robot for Intracerebral Hemorrhage Evacuation.

ABSTRACT:

Objective

We aim to develop and evaluate an MR-conditional concentric tube robot for intracerebral hemorrhage (ICH) evacuation.

Methods

We fabricated the concentric tube robot hardware with plastic tubes and customized pneumatic motors. The robot kinematic model was developed using a discretized piece-wise constant curvature (D-PCC) approach to account for variable curvature along the tube shape, and tube mechanics model was used to compensate torsional deflection of the inner tube. The MR-safe pneumatic motors were controlled using a variable gain PID algorithm. The robot hardware was validated in a series of bench-top and MRI experiments, and the robot's evacuation efficacy was tested in MR-guided phantom trials.

Results

The pneumatic motor was able to achieve a rot

SUBMITTER: Gunderman AL 

PROVIDER: S-EPMC10699321 | biostudies-literature | 2023 Oct

REPOSITORIES: biostudies-literature