MR-conditional steerable needle robot for intracerebral hemorrhage removal

  • Yue ChenEmail author
  • Isuru S. Godage
  • Saikat Sengupta
  • Cindy Lin Liu
  • Kyle D. Weaver
  • Eric J. Barth
Original Article



Intracerebral hemorrhage (ICH) is one of the deadliest forms of stroke in the USA. Conventional surgical techniques such as craniotomy or stereotactic aspiration disrupt a large volume of healthy brain tissue in their attempts to reach the surgical site. Consequently, the surviving patients suffer from debilitating complications.


We fabricated a novel MR-conditional steerable needle robot for ICH treatment. The robot system is powered by a custom-designed high power and low-cost pneumatic motor. We tested the robot’s targeting accuracy and MR-conditionality performance, and performed phantom evacuation experiment under MR image guidance.


Experiments demonstrate that the robotic hardware is MR-conditional; the robot has the targeting accuracy of 1.26 ± 1.22 mm in bench-top tests. With real-time MRI guidance, the robot successfully reached the desired target and evacuated an 11.3 ml phantom hematoma in 9 min.


MRI-guided steerable needle robotic system is a potentially feasible approach for ICH treatment by providing accurate needle guidance and intraoperative surgical outcome evaluation.


Steerable needle robot MRI Intracerebral hemorrhage 



This work was funded by the National Institutes of Health: Grant R21NS091735-01.

Compliance with ethical standards

Conflict of interest

The authors declare that they have no conflict of interest.

Ethical approval

This article does not contain any studies with human participants or animals performed by any of the authors.

Informed consent

This article does not contain patient data.


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Copyright information

© CARS 2018

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringUniversity of ArkansasFayettevilleUSA
  2. 2.School of ComputingDePaul UniversityChicagoUSA
  3. 3.Department of Radiology and Radiological SciencesVanderbilt UniversityNashvilleUSA
  4. 4.Department of Neurological SurgeryVanderbilt Medical CenterNashvilleUSA
  5. 5.Department of Mechanical EngineeringVanderbilt UniversityNashvilleUSA

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