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Updated: Apr 10, 2026
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Minimally Invasive Endoscopic Intracerebral Hemorrhage Evacuation
Published on: October 15, 2021
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Modeling and Control For Minimally Invasive Intracerebral Hemorrhage Evacuation
Anthony L Gunderman1, Satya A Velumuri2, Saikat Sengupta3
1Mechanical Engineering Department, University of Arkansas, Fayetteville, AR USA. He was also with the School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA USA.
IEEE Transactions on Medical Robotics and Bionics
|April 9, 2026
Summary
Minimally invasive surgery for intracerebral hemorrhage (ICH) shows promise, but requires improved control. This study presents a novel closed-loop control strategy for robotic ICH evacuation, enhancing precision in MR-guided procedures.
Area of Science:
- Neurosurgery
- Robotics
- Medical Imaging
Background:
- Intracerebral hemorrhage (ICH) is a severe stroke subtype with high mortality.
- Minimally invasive surgery (MIS) offers improved outcomes for lobar ICH but faces challenges in tool dexterity and visualization.
- Existing methods lack precise control for robotic-assisted ICH evacuation.
Purpose of the Study:
- To develop and evaluate a hybrid pneumatic-hydraulic closed-loop control strategy for MR-guided ICH evacuation.
- To address limitations in tool control and enhance precision during robotic clot removal.
- To improve functional outcomes for patients undergoing ICH treatment.
Main Methods:
- A concentric tube robot (CTR) system was developed for MR-guided ICH evacuation.
- A hybrid pneumatic-hydraulic closed-loop control strategy was modeled for long transmission lines in an MR environment.
- The control strategy was evaluated in a bench-top setting using an artificial hematoma.
Main Results:
- The system demonstrated effective evacuation of artificial hematoma at flow rates from 2.5 to 10 cm³/min.
- Pre-steady-state mean volumetric flow rate error was 0.533 cm³/min.
- Steady-state mean error was reduced to 0.229 cm³/min, indicating high control accuracy.
Conclusions:
- The proposed closed-loop control strategy is suitable for MR-guided ICH evacuation using a CTR.
- This approach enhances control precision and addresses challenges in robotic-assisted clot removal.
- The findings support the potential for improved functional outcomes in ICH patients treated with this technology.
