Rubbing Against Blood Clots Using Helical Robots: Modeling and in Vitro Experimental Validation

Islam S.M. Khalil; Ahmet Fatih Tabak; Khaled Sadek; Dalia Mahdy; Nabila Hamdi; Metin Sitti

doi:10.1109/LRA.2017.2654546

Rubbing Against Blood Clots Using Helical Robots: Modeling and in Vitro Experimental Validation

Islam S.M. Khalil^*, Ahmet Fatih Tabak, Khaled Sadek, Dalia Mahdy, Nabila Hamdi, Metin Sitti

^*Corresponding author for this work

Research output: Contribution to journal › Article › Academic › peer-review

68 Citations (Scopus)

Abstract

The risk of side effects from thrombolytic agents can be minimized by using smaller doses, assisted by mechanical rubbing against blood clots using helical robots. Quantifying this observation, we study the influence of rubbing against clots on their removal rate in vitro. First, we present a hydrodynamic model of the helical robot based on the resistive-force theory to investigate the rubbing behavior of the clots using robot driven by two rotating dipole fields. Second, we experimentally evaluate the influence of the rubbing on the removal rate of the blood clots. Not only do we find that the removal rate of mechanical rubbing (-0.56 ± 0.27 mm ³ /min) is approximately three times greater than the dissolution rate of chemical lysis using streptokinase (-0.17 ± 0.032 mm ³ /min), but we also show that this removal rate can be controlled via the rubbing speed of the robot.

Original language	English
Article number	7820160
Pages (from-to)	927-934
Number of pages	8
Journal	IEEE Robotics and automation letters
Volume	2
Issue number	2
DOIs	https://doi.org/10.1109/LRA.2017.2654546
Publication status	Published - Apr 2017
Externally published	Yes

Keywords

Blood clot
chemical lysis
contact modeling
control
fretting
helical robot
magnetic
medical
RFT
n/a OA procedure

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10.1109/LRA.2017.2654546

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title = "Rubbing Against Blood Clots Using Helical Robots: Modeling and in Vitro Experimental Validation",

abstract = " The risk of side effects from thrombolytic agents can be minimized by using smaller doses, assisted by mechanical rubbing against blood clots using helical robots. Quantifying this observation, we study the influence of rubbing against clots on their removal rate in vitro. First, we present a hydrodynamic model of the helical robot based on the resistive-force theory to investigate the rubbing behavior of the clots using robot driven by two rotating dipole fields. Second, we experimentally evaluate the influence of the rubbing on the removal rate of the blood clots. Not only do we find that the removal rate of mechanical rubbing (-0.56 ± 0.27 mm 3 /min) is approximately three times greater than the dissolution rate of chemical lysis using streptokinase (-0.17 ± 0.032 mm 3 /min), but we also show that this removal rate can be controlled via the rubbing speed of the robot. ",

keywords = "Blood clot, chemical lysis, contact modeling, control, fretting, helical robot, magnetic, medical, RFT, n/a OA procedure",

author = "Khalil, {Islam S.M.} and Tabak, {Ahmet Fatih} and Khaled Sadek and Dalia Mahdy and Nabila Hamdi and Metin Sitti",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.",

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AU - Khalil, Islam S.M.

AU - Tabak, Ahmet Fatih

AU - Sadek, Khaled

AU - Mahdy, Dalia

AU - Hamdi, Nabila

AU - Sitti, Metin

PY - 2017/4

Y1 - 2017/4

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KW - Blood clot

KW - chemical lysis

KW - contact modeling

KW - control

KW - fretting

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KW - magnetic

KW - medical

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ER -

Rubbing Against Blood Clots Using Helical Robots: Modeling and in Vitro Experimental Validation

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Keywords

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