Mechanical Rubbing of Blood Clots Using Helical Robots Under Ultrasound Guidance
A simple way to mitigate the potential negative sideeffects associated with chemical lysis of a blood clot is to tear its fibrin network via mechanical rubbing using a helical robot. Here, we achieve mechanical rubbing of blood clots under ultrasound guidance and using external magnetic actuation. P...
Saved in:
Published in | IEEE robotics and automation letters Vol. 3; no. 2; pp. 1112 - 1119 |
---|---|
Main Authors | , , , , , , , , , , |
Format | Journal Article |
Language | English |
Published |
Piscataway
IEEE
01.04.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subjects | |
Online Access | Get full text |
Cover
Loading…
Abstract | A simple way to mitigate the potential negative sideeffects associated with chemical lysis of a blood clot is to tear its fibrin network via mechanical rubbing using a helical robot. Here, we achieve mechanical rubbing of blood clots under ultrasound guidance and using external magnetic actuation. Position of the helical robot is determined using ultrasound feedback and used to control its motion toward the clot, whereas the volume of the clots is estimated simultaneously using visual feedback. We characterize the shear modulus and ultimate shear strength of the blood clots to predict their removal rate during rubbing. Our in vitro experiments show the ability to move the helical robot controllably toward clots using ultrasound feedback with average and maximum errors of 0.84 ± 0.41 and 2.15 mm, respectively, and achieve removal rate of -0.614 ± 0.303 mm 3 /min at room temperature (25 °C) and -0.482 ± 0.23 mm 3 /min at body temperature (37 °C), under the influence of two rotating dipole fields at frequency of 35 Hz. We also validate the effectiveness of mechanical rubbing by measuring the number of red blood cells and platelets past the clot. Our measurements show that rubbing achieves cell count of (46 ± 10.9) × 10 4 cell/ml, whereas the count in the absence of rubbing is (2 ± 1.41) × 10 4 cell/ml, after 40 min. |
---|---|
AbstractList | A simple way to mitigate the potential negative sideeffects associated with chemical lysis of a blood clot is to tear its fibrin network via mechanical rubbing using a helical robot. Here, we achieve mechanical rubbing of blood clots under ultrasound guidance and using external magnetic actuation. Position of the helical robot is determined using ultrasound feedback and used to control its motion toward the clot, whereas the volume of the clots is estimated simultaneously using visual feedback. We characterize the shear modulus and ultimate shear strength of the blood clots to predict their removal rate during rubbing. Our in vitro experiments show the ability to move the helical robot controllably toward clots using ultrasound feedback with average and maximum errors of 0.84 ± 0.41 and 2.15 mm, respectively, and achieve removal rate of -0.614 ± 0.303 mm3/min at room temperature (25 °C) and -0.482 ± 0.23 mm3/min at body temperature (37 °C), under the influence of two rotating dipole fields at frequency of 35 Hz. We also validate the effectiveness of mechanical rubbing by measuring the number of red blood cells and platelets past the clot. Our measurements show that rubbing achieves cell count of (46 ± 10.9) × 104 cell/ml, whereas the count in the absence of rubbing is (2 ± 1.41) × 104 cell/ml, after 40 min. A simple way to mitigate the potential negative sideeffects associated with chemical lysis of a blood clot is to tear its fibrin network via mechanical rubbing using a helical robot. Here, we achieve mechanical rubbing of blood clots under ultrasound guidance and using external magnetic actuation. Position of the helical robot is determined using ultrasound feedback and used to control its motion toward the clot, whereas the volume of the clots is estimated simultaneously using visual feedback. We characterize the shear modulus and ultimate shear strength of the blood clots to predict their removal rate during rubbing. Our in vitro experiments show the ability to move the helical robot controllably toward clots using ultrasound feedback with average and maximum errors of 0.84 ± 0.41 and 2.15 mm, respectively, and achieve removal rate of -0.614 ± 0.303 mm 3 /min at room temperature (25 °C) and -0.482 ± 0.23 mm 3 /min at body temperature (37 °C), under the influence of two rotating dipole fields at frequency of 35 Hz. We also validate the effectiveness of mechanical rubbing by measuring the number of red blood cells and platelets past the clot. Our measurements show that rubbing achieves cell count of (46 ± 10.9) × 10 4 cell/ml, whereas the count in the absence of rubbing is (2 ± 1.41) × 10 4 cell/ml, after 40 min. |
Author | Tabak, Ahmet Fatih Hesham, Sarah Mahdy, Dalia Khalil, Islam S. M. Mitwally, Mohamed E. Hamdi, Nabila El Sharkawy, Ahmed Moustafa, Ramez R. Klingner, Anke Sitti, Metin Mohamed, Abdelrahman |
Author_xml | – sequence: 1 givenname: Islam S. M. surname: Khalil fullname: Khalil, Islam S. M. email: islam.shoukry@guc.edu.eg organization: German Univ. in Cairo, Cairo, Egypt – sequence: 2 givenname: Dalia surname: Mahdy fullname: Mahdy, Dalia email: dalia.mahdy@guc.edu.eg organization: German Univ. in Cairo, Cairo, Egypt – sequence: 3 givenname: Ahmed surname: El Sharkawy fullname: El Sharkawy, Ahmed email: ahmed.el-sharkawy@student.guc.edu.eg organization: German Univ. in Cairo, Cairo, Egypt – sequence: 4 givenname: Ramez R. surname: Moustafa fullname: Moustafa, Ramez R. organization: Dept. of Neurology, Ain Shams Univ., Cairo, Egypt – sequence: 5 givenname: Ahmet Fatih surname: Tabak fullname: Tabak, Ahmet Fatih email: tabak@sabanciuniv.edu organization: Phys. Intell. Dept., Max Planck Inst. for Intell. Syst., Stuttgart, Germany – sequence: 6 givenname: Mohamed E. surname: Mitwally fullname: Mitwally, Mohamed E. email: mohamed.elwi@guc.edu.eg organization: German Univ. in Cairo, Cairo, Egypt – sequence: 7 givenname: Sarah surname: Hesham fullname: Hesham, Sarah email: sarah.elsayed@student.guc.edu.eg organization: German Univ. in Cairo, Cairo, Egypt – sequence: 8 givenname: Nabila surname: Hamdi fullname: Hamdi, Nabila email: nabila.hamdi@guc.edu.eg organization: German Univ. in Cairo, Cairo, Egypt – sequence: 9 givenname: Anke surname: Klingner fullname: Klingner, Anke email: anke.klingner@guc.edu.eg organization: German Univ. in Cairo, Cairo, Egypt – sequence: 10 givenname: Abdelrahman surname: Mohamed fullname: Mohamed, Abdelrahman organization: Dept. of Neurology, Ain Shams Univ., Cairo, Egypt – sequence: 11 givenname: Metin surname: Sitti fullname: Sitti, Metin email: sitti@is.mpg.de organization: Phys. Intell. Dept., Max Planck Inst. for Intell. Syst., Stuttgart, Germany |
BookMark | eNpNkM1LAzEQxYNUsNbeBS8LnluTzGazOdairVBRij2HbD50y5rUZPfgf-_WLeJlZni8N8P8LtHIB28RuiZ4TggWd5vtYk4xKeeUC0pYcYbGFDifAS-K0b_5Ak1T2mOMCaMcBBuj12erP5SvtWqybVdVtX_PgsvumxBMtmxCm7JdOopr2wymUP2K3tiY7Zo2qhQ6b7JVVxvltb1C5041yU5PfYJ2jw9vy_Vs87J6Wi42M00FafuqFXFASgeOGaEhLyB3tnCszBVXhjFDclpRbktODbNQqJxgwwH3zyjGYIJuh72HGL46m1q5D130_UlJqRDACVDcu_Dg0jGkFK2Th1h_qvgtCZZHdLJHJ4_o5AldH7kZIrW19s9eUgYlofAD89tqMA |
CODEN | IRALC6 |
CitedBy_id | crossref_primary_10_1002_adma_202002047 crossref_primary_10_1109_TMECH_2020_3023003 crossref_primary_10_1126_scirobotics_aav4494 crossref_primary_10_1109_LRA_2024_3391696 crossref_primary_10_1109_TMECH_2021_3054927 crossref_primary_10_1126_sciadv_abi8932 crossref_primary_10_1126_scirobotics_adh0298 crossref_primary_10_1063_5_0097145 crossref_primary_10_3390_mi13030481 crossref_primary_10_1109_TRO_2023_3249569 crossref_primary_10_1109_TIM_2021_3075776 crossref_primary_10_1038_s41467_020_17775_4 crossref_primary_10_1002_adts_201800130 crossref_primary_10_1039_D0CS01062F crossref_primary_10_1039_D1LC00575H crossref_primary_10_1109_TRO_2020_2988636 crossref_primary_10_1021_acsnano_1c07615 crossref_primary_10_1109_TMECH_2021_3103994 crossref_primary_10_1016_j_nantod_2019_100836 crossref_primary_10_1109_OJNANO_2020_2981824 crossref_primary_10_1002_aisy_202300052 crossref_primary_10_1038_s41467_022_32059_9 crossref_primary_10_1007_s00521_022_08140_1 crossref_primary_10_3390_mi12101249 crossref_primary_10_1021_acs_jpcb_1c04682 crossref_primary_10_1002_adma_202100170 crossref_primary_10_1109_LRA_2023_3243801 crossref_primary_10_1109_TMECH_2022_3151983 crossref_primary_10_1016_j_cmpb_2023_107605 crossref_primary_10_1109_LRA_2022_3184445 crossref_primary_10_1109_LRA_2023_3264746 crossref_primary_10_1088_1748_605X_ac8b4b crossref_primary_10_1002_aisy_202000267 crossref_primary_10_1038_s41598_022_25572_w crossref_primary_10_1109_TMECH_2021_3121267 crossref_primary_10_1109_TBME_2020_2987045 crossref_primary_10_1002_aisy_202000181 crossref_primary_10_1016_j_mtbio_2020_100085 crossref_primary_10_1002_aisy_202100279 crossref_primary_10_1088_2516_1091_ab22d5 crossref_primary_10_1109_LRA_2024_3392492 crossref_primary_10_1063_1_5090872 crossref_primary_10_1109_TBME_2019_2960530 crossref_primary_10_1021_acsnano_1c07830 crossref_primary_10_1109_TSMC_2024_3374071 crossref_primary_10_1109_TRO_2023_3271582 crossref_primary_10_1109_LRA_2020_3003868 crossref_primary_10_1109_LRA_2022_3146560 crossref_primary_10_1126_scirobotics_aav6180 crossref_primary_10_1109_TMRB_2023_3318642 crossref_primary_10_1002_mds3_10033 |
Cites_doi | 10.1016/S1076-6332(05)80338-1 10.1039/c1an15599g 10.1109/TAC.2016.2604045 10.1016/j.ijsu.2005.10.007 10.1039/b9nr00162j 10.1038/nnano.2016.137 10.1007/978-3-662-04186-4 10.1039/b925568k 10.1021/ja047697z 10.1109/LRA.2017.2654546 10.1186/1477-9560-10-23 10.1002/adma.201404444 10.1039/c0nr00287a 10.1182/blood-2013-08-523860 10.1109/BIOROB.2016.7523637 10.1002/adma.201504327 10.1021/nl900186w 10.1021/nn301312z 10.1038/micronano.2015.20 10.1063/1.4958737 |
ContentType | Journal Article |
Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2018 |
Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2018 |
DBID | 97E RIA RIE AAYXX CITATION 7SC 7SP 8FD JQ2 L7M L~C L~D |
DOI | 10.1109/LRA.2018.2792156 |
DatabaseName | IEEE All-Society Periodicals Package (ASPP) 2005-present IEEE All-Society Periodicals Package (ASPP) 1998-Present IEEE Electronic Library (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Technology Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional |
DatabaseTitle | CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
DatabaseTitleList | Technology Research Database |
Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/ sourceTypes: Publisher |
DeliveryMethod | fulltext_linktorsrc |
Discipline | Engineering |
EISSN | 2377-3766 |
EndPage | 1119 |
ExternalDocumentID | 10_1109_LRA_2018_2792156 8253812 |
Genre | orig-research |
GrantInformation_xml | – fundername: Science and Technology Development Fund in Egypt grantid: 23016 – fundername: DAAD-BMBF |
GroupedDBID | 0R~ 97E AAJGR AASAJ ABQJQ ABVLG ACGFS AKJIK ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ EBS EJD IFIPE IPLJI JAVBF KQ8 M43 M~E O9- OCL RIA RIE RIG AAYXX CITATION 7SC 7SP 8FD JQ2 L7M L~C L~D |
ID | FETCH-LOGICAL-c291t-c2ca1f318f3f5d9c34634fe6f584a7ad55d142b27e872d5e36a410d730237a553 |
IEDL.DBID | RIE |
ISSN | 2377-3766 |
IngestDate | Fri Sep 13 00:28:42 EDT 2024 Fri Aug 23 00:41:23 EDT 2024 Wed Jun 26 19:30:24 EDT 2024 |
IsPeerReviewed | true |
IsScholarly | true |
Issue | 2 |
Language | English |
LinkModel | DirectLink |
MergedId | FETCHMERGED-LOGICAL-c291t-c2ca1f318f3f5d9c34634fe6f584a7ad55d142b27e872d5e36a410d730237a553 |
ORCID | 0000-0001-8249-3854 0000-0003-3311-6942 0000-0002-2426-433X 0000-0003-0617-088X 0000-0002-0552-9996 |
PQID | 2299371320 |
PQPubID | 4437225 |
PageCount | 8 |
ParticipantIDs | crossref_primary_10_1109_LRA_2018_2792156 proquest_journals_2299371320 ieee_primary_8253812 |
PublicationCentury | 2000 |
PublicationDate | 2018-04-01 |
PublicationDateYYYYMMDD | 2018-04-01 |
PublicationDate_xml | – month: 04 year: 2018 text: 2018-04-01 day: 01 |
PublicationDecade | 2010 |
PublicationPlace | Piscataway |
PublicationPlace_xml | – name: Piscataway |
PublicationTitle | IEEE robotics and automation letters |
PublicationTitleAbbrev | LRA |
PublicationYear | 2018 |
Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
References | ref13 ref12 ref23 ref15 fernández de ávila (ref6) 2017; 8 ref14 ref20 ref11 ref10 ref21 ref1 ref17 ref16 ref19 ref18 ref8 ref7 ref9 ref4 ref3 ref5 vonthron (ref2) 0 wu (ref22) 2014; 30 |
References_xml | – start-page: 1285 year: 0 ident: ref2 article-title: A MRI-based integrated platform for the navigation of microdevices and microrobots publication-title: Proc IEEE Int Conf Intell Robot Syst contributor: fullname: vonthron – ident: ref23 doi: 10.1016/S1076-6332(05)80338-1 – ident: ref14 doi: 10.1039/c1an15599g – ident: ref20 doi: 10.1109/TAC.2016.2604045 – ident: ref1 doi: 10.1016/j.ijsu.2005.10.007 – ident: ref13 doi: 10.1039/b9nr00162j – ident: ref4 doi: 10.1038/nnano.2016.137 – ident: ref21 doi: 10.1007/978-3-662-04186-4 – ident: ref11 doi: 10.1039/b925568k – ident: ref9 doi: 10.1021/ja047697z – ident: ref16 doi: 10.1109/LRA.2017.2654546 – ident: ref17 doi: 10.1186/1477-9560-10-23 – ident: ref3 doi: 10.1002/adma.201404444 – volume: 30 start-page: 169 year: 2014 ident: ref22 publication-title: Ultrasound Part 2 An Issue of Critical Care Clinics contributor: fullname: wu – ident: ref12 doi: 10.1039/c0nr00287a – ident: ref18 doi: 10.1182/blood-2013-08-523860 – ident: ref19 doi: 10.1109/BIOROB.2016.7523637 – ident: ref5 doi: 10.1002/adma.201504327 – volume: 8 year: 2017 ident: ref6 article-title: Micromotor-enabled active drug delivery for in vivo treatment of stomach infection publication-title: Nature Commun contributor: fullname: fernández de ávila – ident: ref7 doi: 10.1021/nl900186w – ident: ref10 doi: 10.1021/nn301312z – ident: ref15 doi: 10.1038/micronano.2015.20 – ident: ref8 doi: 10.1063/1.4958737 |
SSID | ssj0001527395 |
Score | 2.3880575 |
Snippet | A simple way to mitigate the potential negative sideeffects associated with chemical lysis of a blood clot is to tear its fibrin network via mechanical rubbing... |
SourceID | proquest crossref ieee |
SourceType | Aggregation Database Publisher |
StartPage | 1112 |
SubjectTerms | Actuation Blood clots Body temperature closed-loop control Coagulation Dipoles Erythrocytes Feedback Fibrin helical robot magnetic medical Organic chemistry Platelets RFT Robot kinematics Robots Rotating bodies rotating dipole Rubbing Shear modulus Shear strength Temperature measurement Ultrasonic imaging Ultrasound ultrasound imaging |
Title | Mechanical Rubbing of Blood Clots Using Helical Robots Under Ultrasound Guidance |
URI | https://ieeexplore.ieee.org/document/8253812 https://www.proquest.com/docview/2299371320/abstract/ |
Volume | 3 |
hasFullText | 1 |
inHoldings | 1 |
isFullTextHit | |
isPrint | |
link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LT8MwDLZgJzjwRozHlAMXJLq1adM2R0ADhBhCiEm7VUnrIMS0oq29cOC3E7fdmIADl6qqkiqyndiOP9sAp2h06rkuOqmQMTko0tECpcO5ck0oM2sh09XA4CG8HQZ3IzFagfNFLgwiVuAz7NJrFcvP8rSkq7Ke9WasgrEH7mrs8jpX6_s-hSqJSTGPRLqyd_90QdCtuEs18jzqUL2keapWKr_O30qpXG_CYL6cGkvy1i0L3U0_flRq_O96t2CjsS7ZRS0O27CCkx1YX6o5uAuPA6RkX-INeyq1dYxfWG7YJQHY2dU4L2asghEwq5DqQbmuPlIWDBuOi6maUSsmdlO-ZiQyezC87j9f3TpNWwUn5dIr7DNVnrF72fhGZDL1g9APDIbG2iIqUpkQmRdwzSOMI54J9EMVeG4WUXuhSAnh70Nrkk_wAJjBOtDnco1BTO6RCVTqoxLamh6at-FsTvLkva6ekVRehysTy56E2JM07GnDLlFwMa4hXhuO5zxKmu01Szgns4qyvw__nnUEa_TvGmJzDK1iWuKJtR4K3YHVwWe_UwnPF6DzwpA |
link.rule.ids | 315,786,790,802,27957,27958,55109 |
linkProvider | IEEE |
linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LT8MwDLYmOAAHXgMxGJADFyQ62rRpl-OYgAEbQhOTuFVJ6yAEWhFrL_x64rYDBBy4VFWVqJHtxHb82QY4QqMTz3XRSYTskoMiHS1QOpwr14QytRYyXQ2MbsPBJLh-EA8NOPnMhUHEEnyGHXotY_lplhR0VXZqvRmrYOyBu2j1vCurbK2vGxWqJSbFPBbpytPhuEfgrW6HquR51KP6m-4pm6n8OoFLtXKxBqP5gio0yXOnyHUnef9Rq_G_K16H1dq-ZL1KIDaggdNNWPlWdbAJdyOkdF_iDhsX2rrGjywz7Iwg7Kz_kuUzVgIJmFVJ1aBMlx8pD4ZNXvI3NaNmTOyyeEpJaLZgcnF-3x84dWMFJ-HSy-0zUZ6xu9n4RqQy8YPQDwyGxlojKlKpEKkXcM0j7EY8FeiHKvDcNKIGQ5ESwt-GhWk2xR1gBqtQn8s1Bl1ykEygEh-V0Nb40LwFx3OSx69V_Yy49DtcGVv2xMSeuGZPC5pEwc9xNfFa0J7zKK432CzmnAwryv_e_XvWISwN7kfDeHh1e7MHy_SfCnDThoX8rcB9a0vk-qAUoQ92hsS1 |
openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Mechanical+Rubbing+of+Blood+Clots+Using+Helical+Robots+Under+Ultrasound+Guidance&rft.jtitle=IEEE+robotics+and+automation+letters&rft.au=Khalil%2C+Islam+S+M&rft.au=Mahdy%2C+Dalia&rft.au=Ahmed+El+Sharkawy&rft.au=Moustafa%2C+Ramez+R&rft.date=2018-04-01&rft.pub=The+Institute+of+Electrical+and+Electronics+Engineers%2C+Inc.+%28IEEE%29&rft.eissn=2377-3766&rft.volume=3&rft.issue=2&rft.spage=1112&rft_id=info:doi/10.1109%2FLRA.2018.2792156&rft.externalDBID=NO_FULL_TEXT |
thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2377-3766&client=summon |
thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2377-3766&client=summon |
thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2377-3766&client=summon |