Design and Optimization of a Soft Manipulator With Shape Control for Intraventricular Hemorrhage Evacuation.
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| Title: | Design and Optimization of a Soft Manipulator With Shape Control for Intraventricular Hemorrhage Evacuation. |
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| Authors: | Vatanaprasan, Porames1,2 (AUTHOR), Treratanakulchai, Shen1 (AUTHOR) shen.tre@mahidol.ac.th, Chumnanvej, Sorayouth3 (AUTHOR), Suthakorn, Jackrit1 (AUTHOR) jackrit.sut@mahidol.ac.th, Murray, Richard (AUTHOR) rmurray@wiley.com |
| Source: | International Journal of Intelligent Systems. 6/30/2026, Vol. 2026, p1-19. 19p. |
| Subjects: | Intraventricular hemorrhage, Soft robotics, Robot control systems, Neurosurgery, Surgical robots, Multidisciplinary design optimization, Pneumatic actuators |
| Abstract: | Intraventricular hemorrhage (IVH) is a condition characterized by bleeding within the ventricles, a hollow structure inside the brain, with a high mortality rate. Although fibrinolytic therapy has been shown to improve outcomes, surgical removal remains controversial. This is partly because conventional neuroendoscopes are unable to navigate in the curved anatomy of the ventricular system. Several continuum robots have been proposed to address this problem. While they offer improved dexterity, their metallic structures pose a risk to delicate neural tissue. Moreover, they often rely on complex mechanical models, making implementation challenging. This study proposes a design optimization framework and a model‐free shape control strategy for a pneumatically actuated soft manipulator tailored for IVH evacuation. The manipulator design was optimized using anatomical data from 40 patients, targeting minimal collision with brain structures and optimal trajectory alignment. Through multiobjective optimization, we determined specific design parameters for the soft manipulator, which include a number of segments, segment lengths, and the required range of motion. Additionally, a shape control method using spherical coordinates with integral pressure compensation using a single electromagnetic tracking sensor is introduced. The experiments demonstrated the manipulator's maximum shape error of 3.1 mm, and a phantom study confirmed that our soft manipulator surgical system successfully allowed neurosurgeons to visualize the atrium of the lateral ventricle using Kocher's point entry with a maximum exerted force of 0.14 N. [ABSTRACT FROM AUTHOR] |
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| Database: | Engineering Source |
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| Abstract: | Intraventricular hemorrhage (IVH) is a condition characterized by bleeding within the ventricles, a hollow structure inside the brain, with a high mortality rate. Although fibrinolytic therapy has been shown to improve outcomes, surgical removal remains controversial. This is partly because conventional neuroendoscopes are unable to navigate in the curved anatomy of the ventricular system. Several continuum robots have been proposed to address this problem. While they offer improved dexterity, their metallic structures pose a risk to delicate neural tissue. Moreover, they often rely on complex mechanical models, making implementation challenging. This study proposes a design optimization framework and a model‐free shape control strategy for a pneumatically actuated soft manipulator tailored for IVH evacuation. The manipulator design was optimized using anatomical data from 40 patients, targeting minimal collision with brain structures and optimal trajectory alignment. Through multiobjective optimization, we determined specific design parameters for the soft manipulator, which include a number of segments, segment lengths, and the required range of motion. Additionally, a shape control method using spherical coordinates with integral pressure compensation using a single electromagnetic tracking sensor is introduced. The experiments demonstrated the manipulator's maximum shape error of 3.1 mm, and a phantom study confirmed that our soft manipulator surgical system successfully allowed neurosurgeons to visualize the atrium of the lateral ventricle using Kocher's point entry with a maximum exerted force of 0.14 N. [ABSTRACT FROM AUTHOR] |
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| ISSN: | 08848173 |
| DOI: | 10.1155/int/9188550 |
