Steerable Laser Interstitial Thermotherapy (SLIT) Robot for Brain Tumor Therapy
Motivation: Glioblastoma multiforme (GBM) is a highly aggressive brain tumor with a poor prognosis, particularly in recurrent cases (rGBM). Standard treatments provide limited survival benefits, and options for rGBM are few. Laser interstitial thermal therapy (LITT) is a minimally invasive technique that uses laser-induced heat to ablate tumors under MRI guidance. To improve the precision and tumor coverage of this procedure, we are developing a meso-scale neurosurgical robot system for laser ablation. This innovative approach offers potential advantages for rGBM treatment, including shorter recovery times, reduced collateral damage, and enhanced tumor coverage. Our laser ablation probe addresses the challenges of treating large, irregularly shaped tumors by enabling manipulation within soft tissue to perform ablation at multiple sites.
Project Highlights:
In this research project, we are developing a steerable laser interstitial thermotherapy (SLIT) robot. So far, we have developed a highly dexterous needle robot and demonstrated a laser ablation technique on a simplified robot.
Figure 1. Telescopic tendon-driven needle robot: (a) Robotic system prototype. (b) Demonstration of the follow-the-leader motion in air. (c) Actuation system design: schematic showing design details. (d) Schematic showing robot with the sleeve, robot without the sleeve, middle tube, and inner tube from top to bottom. (e) Simulations of robot workspace.
The design of the dexterous needle robot includes a rigid outer tube and two telescopic, tendon-driven steerable tubes, allowing for dexterous motion and follow-the-leader navigation. Performance tests have shown high accuracy, with a tip position error of 0.92 mm and a follow-the-leader motion error of 1.1 mm. This motion capability enables safe and flexible navigation within brain tissue, minimizing damage to surrounding areas.
The steerable laser ablation robot features a PDMS/Carbon nanoparticle mixture that houses a multimode optical fiber at the tip. When the laser is activated, the robot tip functions as a heater, thus enhancing the safety of the procedure. This innovative approach aims to improve the effectiveness of brain tumor treatments by enabling laser ablation at multiple locations.
Figure 2. (a) Overall laser ablation system. (b) Conceptual illustration of multi-site ablation. (c) Probe design and fabrication. (d) Multi-site laser ablation in agar.
Refereed Conference Publications:
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S. Rezaeian, B. Badie, and J. Sheng, “A telescopic tendon-driven needle robot for minimally invasive neurosurgery,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023, pp. 10 301–10 307.
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J. A. Ceja, S. Rezaeian, J. R. V ́elez-Cordero, J. Hern ́andez-Cordero, B. Badie, and J.Sheng, “Towards a robotically steerable laser ablation probe,” in 2024 International Symposium on Medical Robotics (ISMR), 2024, pp. 1–7.