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    Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal

    Source: Journal of Mechanisms and Robotics:;2023:;volume( 016 ):;issue: 008::page 81005-1
    Author:
    Huang, Zhefeng
    ,
    Alkhars, Hussain
    ,
    Gunderman, Anthony
    ,
    Sigounas, Dimitri
    ,
    Cleary, Kevin
    ,
    Chen, Yue
    DOI: 10.1115/1.4063979
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Purpose: The purpose of this paper is to investigate the optimal geometrical design of concentric tube robots (CTR) for intracerebral hemorrhage (ICH) evacuation, with a focus on minimizing the risk of damaging white matter tracts and cerebral arteries. Methods: To achieve our objective, we propose a parametrization method describing a general class of CTR geometric designs. We present mathematical models that describe the CTR design constraints and provide the calculation of a path risk value. We then use the genetic algorithm to determine the optimal tube geometry for targeting within the brain. Results: Our results show that a multi-tube CTR design can significantly reduce the risk of damaging critical brain structures compared to the conventional straight tube design. However, there is no significant relationship between the path risk value and the number and shape of the additional inner curved tubes. Conclusion: Considering the challenges of CTR hardware design, fabrication, and control, we conclude that the most feasible geometry for a CTR path in ICH treatment is a straight outer tube followed by a planar curved inner tube. These findings have important implications for the development of safe and effective CTRs for ICH evacuation by enabling dexterous manipulation to minimize damage to critical brain structures.
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      Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal

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    contributor authorHuang, Zhefeng
    contributor authorAlkhars, Hussain
    contributor authorGunderman, Anthony
    contributor authorSigounas, Dimitri
    contributor authorCleary, Kevin
    contributor authorChen, Yue
    date accessioned2024-04-24T22:38:09Z
    date available2024-04-24T22:38:09Z
    date copyright12/11/2023 12:00:00 AM
    date issued2023
    identifier issn1942-4302
    identifier otherjmr_16_8_081005.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4295579
    description abstractPurpose: The purpose of this paper is to investigate the optimal geometrical design of concentric tube robots (CTR) for intracerebral hemorrhage (ICH) evacuation, with a focus on minimizing the risk of damaging white matter tracts and cerebral arteries. Methods: To achieve our objective, we propose a parametrization method describing a general class of CTR geometric designs. We present mathematical models that describe the CTR design constraints and provide the calculation of a path risk value. We then use the genetic algorithm to determine the optimal tube geometry for targeting within the brain. Results: Our results show that a multi-tube CTR design can significantly reduce the risk of damaging critical brain structures compared to the conventional straight tube design. However, there is no significant relationship between the path risk value and the number and shape of the additional inner curved tubes. Conclusion: Considering the challenges of CTR hardware design, fabrication, and control, we conclude that the most feasible geometry for a CTR path in ICH treatment is a straight outer tube followed by a planar curved inner tube. These findings have important implications for the development of safe and effective CTRs for ICH evacuation by enabling dexterous manipulation to minimize damage to critical brain structures.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleOptimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal
    typeJournal Paper
    journal volume16
    journal issue8
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4063979
    journal fristpage81005-1
    journal lastpage81005-9
    page9
    treeJournal of Mechanisms and Robotics:;2023:;volume( 016 ):;issue: 008
    contenttypeFulltext
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    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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