{"doi":"10.1109/tbme.2023.3268279","title":"Non-Metallic MR-Guided Concentric Tube Robot for Intracerebral Hemorrhage Evacuation","abstract":"OBJECTIVE: We aim to develop and evaluate an MR-conditional concentric tube robot for intracerebral hemorrhage (ICH) evacuation. METHODS: We 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. RESULTS: The 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. CONCLUSION: This 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.","journal":"IEEE Transactions on Biomedical Engineering","year":2023,"id":332308,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":25,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9606,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2023-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":793310,"name":"Saikat Sengupta","orcid":"0000-0001-5032-006X","position":1,"is_corresponding":false},{"id":982497,"name":"Eleni Siampli","orcid":null,"position":2,"is_corresponding":false},{"id":899203,"name":"Dimitri Sigounas","orcid":null,"position":3,"is_corresponding":false},{"id":89998,"name":"Christopher P. Kellner","orcid":"0000-0003-4604-8205","position":4,"is_corresponding":false},{"id":469485,"name":"Chima Oluigbo","orcid":"0000-0002-7851-3792","position":5,"is_corresponding":false},{"id":316227,"name":"Karun Sharma","orcid":null,"position":6,"is_corresponding":false},{"id":898670,"name":"Isuru S. Godage","orcid":"0000-0001-6112-0813","position":7,"is_corresponding":false},{"id":409761,"name":"Kevin Cleary","orcid":"0000-0001-9809-4823","position":8,"is_corresponding":false},{"id":253835,"name":"Yue Chen","orcid":"0000-0003-1350-4972","position":9,"is_corresponding":false},{"id":793311,"name":"Anthony L. Gunderman","orcid":"0000-0002-8554-2970","position":0,"is_corresponding":true}],"reference_count":52,"raw_metadata":null,"created_at":"2026-07-19T01:09:30.139849Z","pmid":"37074885","pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}