Towards MR-Guided Robotic Intracerebral Hemorrhage Evacuation: Aiming Device Design and ex vivo Ovine Head Trial

Robotic thread-assisted clot removal for stroke treatment: A comprehensive review

Stroke is the predominant factor of long-term impairment in developed nations and is a major contributor to death globally. Stroke is a life-threatening neurological condition caused by the occlusion or rupture of blood vessels in the brain. Brain clot restricts blood movement by causing obstruction thus, damaging the blood vessels and tissues, which ultimately causes stroke. Thus, stroke requires immediate and efficient treatment to reduce neurological deterioration and increase patient recuperation. Over the last decade, there have been significant breakthroughs in diagnostic and therapeutic interventionsfor stroke. Stroke is typically treated with immediate therapeutic interventions, which may involve thrombolytic medication infusions like tissue plasminogen activator, anti-coagulants like heparin, or surgical clot clearance procedures like thrombectomy. Despite the significant benefits of these treatments, several disadvantages, including restricted therapeutic index, allergic reactions, and adverse effects (such as hypotension, recurrent stroke, hypoglycaemia, and atypical bleeding), highlight the need for far more innovative solutions. In response to these challenges, a novel approach to treating brain clots has emerged. The study investigates a novel approach to treating strokes caused by brain clots through the utilization of a steerable micro-robotic thread guided by real-time imaging to enhance precision in clot removal. This method addresses the limitations of traditional treatments namely thrombolytics and thrombectomy. In this work, we emphasized the innovative approaches in the removal of brain clots, the use and mechanisms of cutting-edge robotic thread technology, and presented specific case studies demonstrating its application.

Body-Mounted MR-Conditional Robot for Minimally Invasive Liver Intervention

MR-guided microwave ablation (MWA) has proven effective in treating hepatocellular carcinoma (HCC) with small-sized tumors, but the state-of-the-art technique suffers from sub-optimal workflow due to the limited accuracy provided by the manual needle insertions. This paper presents a compact body-mounted MR-conditional robot that can operate in closed-bore MR scanners for accurate needle guidance. The robotic platform consists of two stacked Cartesian XY stages, each with two degrees of freedom, that facilitate needle insertion pose control. The robot is actuated using 3D-printed pneumatic turbines with MR-conditional bevel gear transmission systems. Pneumatic valves and control mechatronics are located inside the MRI control room and are connected to the robot with pneumatic transmission lines and optical fibers. Free-space experiments indicated robot-assisted needle insertion error of 2.6 ± 1.3 mm at an insertion depth of 80 mm. The MR-guided phantom studies were conducted to verify the MR-conditionality and targeting performance of the robot. Future work will focus on the system optimization and validations in animal trials.