@inproceedings {GodageRoboticIROS15, title = {{Robotic Intracerebral Hemorrhage Evacuation: An In-Scanner Approach with Concentric Tube Robots}}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2015}, pages = {1447-1452}, abstract = {

Several robotic systems have been proposed for
removing blood from the brain in patients who have undergone
a hemorrhagic stroke. In this paper we explore the use of image-
based feedback to address tissue deformation when aspirating
a hemorrhage in a phantom model. This is the first time
intraoperative image feedback has been used with a concentric
tube robot in this application. We describe a layer by layer
approach to motion planning. Computed tomography (CT)
images are collected periodically during hemorrhage removal.
After each CT scan, the robot\’s tip path is re-planned to
account for the tissue deformation that has occurred since the
previous scan. We compare open loop hemorrhage removal to
our sequential imaging-replanning approach, illustrating that
the latter has the potential to enhance the safety and efficacy
of the procedure.

}, author = {{Godage}, I. S. and {Remirez}, A. A. and {Wirz}, R. and {Weaver}, K. D. and {Burgner-Kahrs}, J. and {Webster III}, R. J.} }