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Modeling and Control For Minimally Invasive Intracerebral Hemorrhage Evacuation.

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Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal.

Zhefeng Huang1, Hussain Alkhars2, Anthony Gunderman1

  • 1Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.

Journal of Mechanisms and Robotics
|March 4, 2024
PubMed
Summary

Concentric tube robots (CTRs) optimized for intracerebral hemorrhage (ICH) evacuation reduce risks to brain structures. A straight outer tube with a planar curved inner tube offers the most practical CTR geometry for safe ICH treatment.

Keywords:
Concentric tube robot designIntracerebral hemorrhage removalPath planning

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Area of Science:

  • Neurosurgery
  • Robotics
  • Medical Device Design

Background:

  • Intracerebral hemorrhage (ICH) poses significant risks to brain structures.
  • Minimizing damage to white matter tracts and cerebral arteries is critical during surgical evacuation.
  • Concentric tube robots (CTRs) offer potential for minimally invasive ICH treatment.

Purpose of the Study:

  • To investigate optimal geometrical designs and path planning for CTRs in ICH evacuation.
  • To minimize the risk of damaging critical brain structures, including white matter tracts and cerebral arteries.
  • To identify practical CTR geometries for safe and effective ICH treatment.

Main Methods:

  • A parametrization method was developed for general CTR geometric designs.
  • Mathematical models were created to define CTR design constraints and calculate path risk.
  • A genetic algorithm was employed to optimize CTR geometry for brain targeting.

Main Results:

  • Multi-tube CTR designs significantly reduced the risk of damaging critical brain structures compared to straight tubes.
  • No significant relationship was found between path risk value and the number/shape of inner curved tubes.
  • A straight outer tube with a planar curved inner tube emerged as a practical CTR geometry.

Conclusions:

  • The straight outer, planar curved inner tube CTR geometry is most practical for ICH evacuation.
  • Findings support the development of safe and effective CTRs for minimizing damage during ICH treatment.
  • Dexterous manipulation capabilities of CTRs are crucial for preserving critical brain structures.