Debulking from within: A robotic steerable cannula for intracerebral hemorrhage evacuation

IEEE Transactions on Biomedical Engineering

Volumn 60, Issue 9, 2013, Pages 2567-2575

  Burgner, Jessica ^a   Swaney, Philip J ^b   Lathrop, Ray A ^b   Weaver, Kyle D ^c   Webster, Robert J ^b,c  

^a LEIBNIZ UNIVERSITY HANNOVER   (Germany)

^b VANDERBILT UNIVERSITY   (United States)

^c VANDERBILT UNIVERSITY MEDICAL CENTER   (United States)

Author keywords

Active cannula; concentric tube robot; continuum robot; minimally invasive neurosurgery; robot assisted surgery

Indexed keywords

ACTIVE CANNULA; CONCENTRIC TUBE; CONTINUUM ROBOT; MINIMALLY INVASIVE; ROBOT-ASSISTED SURGERY;

BIOCOMPATIBILITY; MACHINE DESIGN; NEEDLES; NEUROSURGERY; ROBOTS; TRANSPLANTATION (SURGICAL); TUBES (COMPONENTS);

SURGICAL EQUIPMENT;

ARTICLE; ASPIRATION; BRAIN BIOPSY; BRAIN HEMORRHAGE; CANNULA; DECOMPRESSION SURGERY; FEASIBILITY STUDY; HUMAN; IN VITRO STUDY; NEEDLE; ROBOTICS; BIOLOGICAL MODEL; BRAIN; CATHETER; CEREBRAL HEMORRHAGE; COMPUTER ASSISTED SURGERY; DEVICES; EQUIPMENT DESIGN; IMAGE QUALITY; PHYSIOLOGY; PROCEDURES; SKULL; SUCTION;

BRAIN; CATHETERS; CEREBRAL HEMORRHAGE; EQUIPMENT DESIGN; HUMANS; MODELS, BIOLOGICAL; PHANTOMS, IMAGING; ROBOTICS; SKULL; SUCTION; SURGERY, COMPUTER-ASSISTED;

EID: 84882942597     PISSN: 00189294     EISSN: 15582531     Source Type: Journal    
DOI: 10.1109/TBME.2013.2260860     Document Type: Article

References (34)

1. C. J. van Asch, M. J. Luitse, G. J. Rinkel, I. van der Tweel, A. Algra, and C. J. Klijn, "Incidence, case fatality, and functional outcome of intracerebral haemorrhage over time, according to age, sex, and ethnic origin: A systematic review and meta-analysis," Lancet Neurol., vol. 9, no. 2, pp. 167-176, 2010.
2. R. A.Kaya, O. T̈urkmenolu, I. M. Ziyal, T. Dalkiliç,Y. Ahin, andY.Aydin, "The effects on prognosis of surgical treatment of hypertensive putaminal hematomas through transsylvian transinsular approach," Surg. Neurol., vol. 59, no. 3, pp. 176-183, 2003. (Pubitemid 36390205)
3. G. Maira, C. Anile, C. Colosimo, and G. F. Rossi, "Surgical treatment of primary supratentorial intracerebral hemorrhage in stuporous and comatose patients," Neurol. Res., vol. 24, no. 1, pp. 54-60, 2002. (Pubitemid 34038397)
4. J. M. Murthy, G. V. Chowdary, T. V. Murthy, P. S. Bhasha, and T. J. Naryanan, "Decompressive craniectomy with clot evacuation in large hemispheric hypertensive intracerebral hemorrhage," Neurocritical Care, vol. 2, no. 3, pp. 258-262, 2005. (Pubitemid 41112396)
5. S. H. Tan, P. Y. Ng, T. T. Yeo, S. H. Wong, P. L. Ong, and N. Venketasubramanian, "Hypertensive basal ganglia hemorrhage: A prospective study comparing surgical and nonsurgical management," Surg. Neurol., vol. 56, no. 5, pp. 287-292, 2001. (Pubitemid 34003003)
6. Y. Zuo, G. Cheng, D.-K. Gao, X. Zhang, H.-N. Zhen, W. Zhang, and S.-C. Xiao, "Gross-total hematoma removal of hypertensive basal ganglia hemorrhages: A long-term follow-up," J. Neurol. Sci., vol. 287, no. 1-2, pp. 100-104, 2009.
7. L. Elijovich, P. V. Patel, and J. C. Hemphill, "Intracerebral hemorrhage," Seminars Neurol., vol. 28, no. 5, pp. 657-667, 2008.
8. C.-H. Chen, H.-T. Lee, C.-C. Shen, and M.-H. Sun, "Aspiration of hypertensive intracerebral hematoma with frameless and fiducial-free navigation system: Technical note and preliminary result," Stereotactic Functional Neurosurg., vol. 86, no. 5, pp. 288-291, 2008.
9. C.-C. Chen, D.-Y. Cho, C.-S. Chang, J.-T. Chen,W.-Y. Lee, and H.-C. Lee, "A stainless steel sheath for endoscopic surgery and its application in surgical evacuation of putaminal haemorrhage," J. Clin. Neurosci., vol. 12, no. 8, pp. 937-940, 2005.
10. N. Etminan, K. Beseoglu, B. Turowski, H. J. Steiger, and D. Hanggi, "Perfusion CT in patients with spontaneous lobar intracerebral hemorrhage: Effect of surgery on perihemorrhagic perfusion," Stroke, vol. 43, no. 3, pp. 759-763, 2012.
11. D. W. Newell, M. M. Shah, R. Wilcox, D. R. Hansmann, E. Melnychuk, J. Muschelli, and D. F. Hanley, "Minimally invasive evacuation of spontaneous intracerebral hemorrhage using sonothrombolysis," J. Neurosurg., vol. 115, no. 3, pp. 592-601, 2011.
12. C. M. Miller, P. Vespa, J. L. Saver, C. S. Kidwell, S. T. Carmichael, J. Alger, J. Frazee, S. Starkman, D. Liebeskind, V. Nenov, R. Elashoff, and N. Martin, "Image-guided endoscopic evacuation of spontaneous intracerebral hemorrhage," Surg. Neurol., vol. 69, no. 5, pp. 441-446, 2008. (Pubitemid 351522294)
13. Y. S. Kwoh, J. Hou, E. A. Jonckheere, and S. Hayati, "A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery," IEEE Trans. Biomed. Eng., vol. 35, no. 2, pp. 153-160, Feb. 1988. (Pubitemid 18079553)
14. D. F. Louw, T. Fielding, P. B. McBeth, D. Gregoris, P. Newhook, and G. R. Sutherland, "Surgical robotics: A review and neurosurgical prototype development," Neurosurg., vol. 54, no. 3, pp. 525-536, 2004.
15. R. Taylor, "A perspective on medical robotics," Proc. IEEE, vol. 94, no. 9, pp. 1652-1664, Sep. 2006. (Pubitemid 46438152)
16. G. Dogangil, B. L. Davies, and F. Rodriguez y Baena, "A reviewof medical robotics forminimally invasive soft tissue surgery," Proc. Inst. Mech. Eng. Part H: J. Eng. Med., vol. 224, no. 5, pp. 653-679, 2010.
17. J. A. Engh, G. Podnar, D. Kondziolka, and C. N. Riviere, "Toward effective needle steering in brain tissue," in Proc. Int. Conf. IEEE Eng. Med. Biol. Soc., Aug./Sep. 2006, vol. 1, pp. 559-562. (Pubitemid 46519923)
18. R. J. Webster III, J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura, "Nonholonomic modeling of needle steering," Int. J. Robot. Res., vol. 25, no. 5-6, pp. 509-526, 2006.
19. T. M. Goradia, R. H. Taylor, and L. M. Auer, "Robot-assisted minimally invasive neurosurgical procedures: First experimental experience," in First Joint Conf. Vision, Virtual Reality, Robotics Med. Med. Robot. Comput.-Assisted Surgery, 1997, pp. 319-322. (Pubitemid 127045566)
20. J. M. Simard, "Plenary lectures: Problems in neurosurgery-a rich environment for engineers," in Proc. IEEE Int. Conf. Biomed. Robot. Biomechatron., 2012, p. L. DOI: 10.1109/BioRob.2012.6290953.
21. P. E. Dupont, J. Lock, B. Itkowitz, and E. Butler, "Design and control of concentric-tube robots," IEEE Trans. Robot., vol. 26, no. 2, pp. 209-225, Apr. 2010.
22. D. C. Rucker, B. A. Jones, and R. J. Webster III, "A geometrically exact model for externally loaded concentric-tube continuum robots," IEEE Trans. Robot., vol. 26, no. 5, pp. 769-780, Oct. 2010.
23. T. Anor, J. R. Madsen, and P. E. Dupont, "Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example," in Proc. IEEE Int. Conf. Robot. Autom., May 2011, pp. 667-673.
24. C. Bedell, J. Lock, A. Gosline, and P. E. Dupont, "Design optimization of concentric tube robots based on task and anatomical constraints," in Proc. IEEE Int. Conf. Robot. Autom., May 2011, pp. 398-403.
25. J. Burgner, P. J. Swaney, D. C. Rucker, H. B. Gilbert, S. T. Nill, P. T. Russell, K. D. Weaver, and R. J. Webster, "A bimanual teleoperated system for endonasal skull base surgery," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Sep. 2011, pp. 2517-2523.
26. J. Burgner, H. B. Gilbert, and R. J. Webster III, "On the computational design of concentric tube robots: Incorporating volume-based objectives," in Proc. IEEE Int. Conf. Robot. Autom., 2013.
27. P. J. Swaney, J. Burgner, R. A. Lathrop, H. B. Gilbert, K. D. Weaver, and R. J. Webster III, "Minimally-invasive intracerebral hemorrhage removal using an active cannula," in Proc. IEEE Int. Conf. Robot. Autom., 2013.
28. C. M. Graves, A. Slocum, R. Gupta, and C. J.Walsh, "Towards a compact robotically steerable thermal ablation probe," in Proc. IEEE Int. Conf. Robot. Autom., May 2012, pp. 709-714.
29. J. Burgner, P. J. Swaney, T. L. Bruns, M. S. Clark, D. C. Rucker, E. C. Burdette, and R. J. Webster, "An autoclavable steerable cannula manual deployment device: Design and accuracy analysis," J. Med. Devices, vol. 6, no. 4, 2012.
30. R. J.Webster III and B. A. Jones, "Design and kinematic modeling of constant curvature continuum robots: A review," Int. J. Robot. Res., vol. 29, no. 13, pp. 1661-1683, 2010.
31. 2012. 3d Slicer. [Online]. Available: http://www.slicer.org
32. M. Mcdonald,N.Konyer, andM. J.Bronskill, "MRl-guided neurosurgery: Accuracy of the navigus trajectory guide," Int. Soc.Magn. ResonaceMed. 10, vol. 94, no. 1, p. 2075, 2002.
33. A. Quinones Hinojosa, M. L. Ware, N. Sanai, and M. W. McDermott, "Assessment of image guided accuracy in a skull model: Comparison of frameless stereotaxy techniques vs. frame-based localization," J. Neurooncol., vol. 76, no. 1, pp. 65-70, 2006. (Pubitemid 43115762)
34. A. H. Gosline, N. V.Vasilyev,A.Veeramani, M.Wu,G. Schmitz, R. Chen, V. Arabagi, P. J. del Nido, and P. E. Dupont, "Metal MEMS tools for beating-heart tissue removal," in Proc. IEEE Int. Conf. Robot. Autom., May 2012, pp. 1921-1926.