ArticleIEEE transactions on bio-medical engineering2023
Non-Metallic MR-Guided Concentric Tube Robot for Intracerebral Hemorrhage Evacuation.
Article in IEEE transactions on bio-medical engineering, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 19 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
19 citing papers in PubMed.
- A Pneumatically Actuated Robotic Assistant for MRI-Guided Stereotactic Neurosurgery.IEEE transactions on medical robotics and bionics · 2026Article
- Concentric Tube Robot-Assisted Intracerebral Hemorrhage Evacuation: Validation in an Ovine Model.IEEE transactions on medical robotics and bionics · 2026Article
- Modeling and Control For Minimally Invasive Intracerebral Hemorrhage Evacuation.IEEE transactions on medical robotics and bionics · 2026Article
- Minimally Invasive Neurosurgical Robot for MRI-Guided Intratumoral Therapeutic Delivery.IEEE transactions on medical robotics and bionics · 2026Article
- Design and Validation of a Compact Concentric-Tube Robot for Percutaneous Nephrolithotomy.IEEE transactions on medical robotics and bionics · 2025Article
- Marker-to-Object Calibration Using Landmark Touch.IEEE sensors journal · 2025Article
- Towards a Tendon-Driven Robotically Steerable Guidewire with a Retractable Distal Balloon.IEEE robotics and automation letters · 2025Article
- Development of a Low-Profile, Piezoelectric Robot for MR-Guided Abdominal Needle Interventions.Annals of biomedical engineering · 2025Article
- Towards a Steerable Neurosurgical Robot for Debulking of Brain Mass Lesions.IEEE robotics and automation letters · 2025Article
- Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot.IEEE robotics and automation letters · 2024Article
- Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal.Journal of mechanisms and robotics · 2024Article
- Body-Mounted MR-Conditional Robot for Minimally Invasive Liver Intervention.Annals of biomedical engineering · 2024Article
- Towards a Robotically Steerable Laser Ablation Probe.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2024Article
- Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME).IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2024Article
- Towards MR-Guided Robotic Intracerebral Hemorrhage Evacuation: Aiming Device Design andIEEE transactions on medical robotics and bionics · 2024Article
- Quasi-static Path Planning for Continuum Robots By Sampling on Implicit Manifold.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2024Article
- A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- MRI-Conditional Eccentric-Tube Injection Needle: Design, Fabrication, and Animal Trial.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2023Article
- Open Source MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME): Design and Manufacturing Guidelines.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2023Article
Corrections and comments
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Authors and funding
10 authors.
Funding
Abstract
objectiveWe aim to develop and evaluate an MR-conditional concentric tube robot for intracerebral hemorrhage (ICH) evacuation.
methodsWe 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.
resultsThe pneumatic motor was able to achieve a rotational accuracy of 0.32°±0.30° with the proposed variable gain PID control algorithm. The kinematic model provided a positional accuracy of the tube tip of 1.39 ± 0.54 mm. The robot was able to evacuate an initial 38.36 mL clot, leaving a residual hematoma of 8.14 mL after 5 minutes, well below the 15 mL guideline suggesting good post-ICH evacuation clinical outcomes.
conclusionThis robotic platform provides an effective method for MR-guided ICH evacuation. SIGNIFICANCE: ICH evacuation is feasible under MRI guidance using a plastic concentric tube, indicating potential feasibility in future live animal studies.
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What Socratic holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the Socratic graph.