TY - JOUR
T1 - Ultrasound-guided minimally invasive grinding for clearing blood clots
T2 - Promises and challenges
AU - Mahdy, Dalia
AU - Reda, Ramez
AU - Hamdi, Nabila
AU - Khalil, Islam S.M.
N1 - Funding Information:
Our in vitro experimental model is shown in Fig. 2. The system integrates several modules to control the motion of the helical microrobots, localize the microrobot using ultrasound feedback (Fig. 2a), and analyze the volume and composition of the clot during interaction with the microrobot. The first module is a permanent magnet-based robotic system (Fig. 2b) that consists of two rotating dipole fields. Single rotating dipole field can also be used to externally actuate the micro-robot, however, a magnetic force will pull the microrobot along its lateral direction towards the inner wall of the vessel. This pulling magnetic force is decreased when the two synchronized rotating dipole fields are used and the microro-bot is positioned in their common center, as shown in Fig. 2b. Rotation of the dipole fields enables the microrobot to swim through the medium inside a catheter segment that contains the blood clots and a flowing stream of phosphate buffered saline (PBS) (Fig. 2c). Blood clots with volume of 94.24 mm3 are prepared and inserted inside the catheter segment, and PBS is injected at a flow rate of 10 ml/hr against the direction of the swimming microrobot. The second module of the in vitro model provides imaging of the microrobot and the clot. An ultrasound system (HD 5 Diagnostic Ultrasound System, Philips This work was supported by funds from the German University in Cairo and the DAAD-BMBF funding project. The authors also acknowledge funding from the Science and Technology Development Fund in Egypt (No. 23016).
Publisher Copyright:
© 2012 IEEE.
PY - 2018/4
Y1 - 2018/4
N2 - Mechanical removal of blood clots is a promising approach towards the treatment of vascular diseases caused by pathological clot formation in the circulatory system. These clots can form and travel to deep seated regions in the circulatory system and result in significant problems as blood flow past the clot is obstructed. A microscopically small helical microrobot (Fig. 1a) offers great promise in the minimally-invasive removal of these clots. The simple design of the microrobot, which was originally presented at Tohoku University by Ishiyama et al., enables fabrication at micro and nano scales [1]. The incorporation of a magnetic material to the helical microrobots allows them to controllably navigate using an external source of magnetic field and feedback control [2]. The external source of magnetic field has been provided using a configuration of electromagnetic coils or rotating permanent magnets, while several research groups have relied on visual feedback to design feedback control systems.
AB - Mechanical removal of blood clots is a promising approach towards the treatment of vascular diseases caused by pathological clot formation in the circulatory system. These clots can form and travel to deep seated regions in the circulatory system and result in significant problems as blood flow past the clot is obstructed. A microscopically small helical microrobot (Fig. 1a) offers great promise in the minimally-invasive removal of these clots. The simple design of the microrobot, which was originally presented at Tohoku University by Ishiyama et al., enables fabrication at micro and nano scales [1]. The incorporation of a magnetic material to the helical microrobots allows them to controllably navigate using an external source of magnetic field and feedback control [2]. The external source of magnetic field has been provided using a configuration of electromagnetic coils or rotating permanent magnets, while several research groups have relied on visual feedback to design feedback control systems.
KW - n/a OA procedure
UR - http://www.scopus.com/inward/record.url?scp=85044863953&partnerID=8YFLogxK
U2 - 10.1109/MIM.2018.8327972
DO - 10.1109/MIM.2018.8327972
M3 - Article
AN - SCOPUS:85044863953
SN - 1094-6969
VL - 21
SP - 10
EP - 14
JO - IEEE Instrumentation and Measurement Magazine
JF - IEEE Instrumentation and Measurement Magazine
IS - 2
ER -