CT Guided Intra Cranial Hemorrhage(ICH) Evacuation

We developed a robotic system for rapid removal blood from the brain after a bleeding event resulting in blood in the ventricles or brain parenchyma. The procedure is performed inside a CT scanner. A hematoma evacuator is aligned with the target "out-of-plane", with the use of a couch-mounted 2-DOF remote center of motion (RCM) robot. The robot is calibrated to CT image space with pure image based out-of-plane stereotactic registration. The system is frameless and the patient is secured in treatment position in a non-invasive manner. We achieved excellent out-of-plane tool placement accuracy in mechanical phantoms (1.0 mm) and demonstrated the workflow on human cadaver.