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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.
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]
Copyright of International Journal of Intelligent Systems is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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PubTypeId: academicJournal
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  Data: Design and Optimization of a Soft Manipulator With Shape Control for Intraventricular Hemorrhage Evacuation.
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  Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Intelligent+Systems%22">International Journal of Intelligent Systems</searchLink>. 6/30/2026, Vol. 2026, p1-19. 19p.
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  Data: <searchLink fieldCode="DE" term="%22Intraventricular+hemorrhage%22">Intraventricular hemorrhage</searchLink><br /><searchLink fieldCode="DE" term="%22Soft+robotics%22">Soft robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+control+systems%22">Robot control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Neurosurgery%22">Neurosurgery</searchLink><br /><searchLink fieldCode="DE" term="%22Surgical+robots%22">Surgical robots</searchLink><br /><searchLink fieldCode="DE" term="%22Multidisciplinary+design+optimization%22">Multidisciplinary design optimization</searchLink><br /><searchLink fieldCode="DE" term="%22Pneumatic+actuators%22">Pneumatic actuators</searchLink>
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  Data: 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]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of International Journal of Intelligent Systems is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1155/int/9188550
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        Text: English
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      – SubjectFull: Intraventricular hemorrhage
        Type: general
      – SubjectFull: Soft robotics
        Type: general
      – SubjectFull: Robot control systems
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      – SubjectFull: Neurosurgery
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      – SubjectFull: Surgical robots
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      – SubjectFull: Multidisciplinary design optimization
        Type: general
      – SubjectFull: Pneumatic actuators
        Type: general
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      – TitleFull: Design and Optimization of a Soft Manipulator With Shape Control for Intraventricular Hemorrhage Evacuation.
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            NameFull: Vatanaprasan, Porames
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              Text: 6/30/2026
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              Y: 2026
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