Mechanical Rubbing of Blood Clots Using Helical Robots Under Ultrasound Guidance

Khalil, Islam S. M.; Mahdy, Dalia; Sharkawy, Ahmed El; Moustafa, Ramez Reda; Tabak, Ahmet Fatih; Mitwally, Mohamed E.; Hesham, Sarah; Hamdi, Nabila; Klingner, Anke; Mohamed, Asmaa S.; Sitti, Metin

doi:10.1109/lra.2018.2792156

Cited by 73 publications

(42 citation statements)

References 20 publications

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“…As illustrated in Fig. 1A, a millimeter-scale device was controlled to move inside the stomach (tens of centimeters) for less-invasive imaging and biopsy (14); the OctoMag system navigated a submillimeter device inside the eye (several centimeters) for surgery (13); microswimmers were positioned inside the blood vessel (several millimeters) to mechanically clear blood clogs (16,17); and a 5-mm magnetic bead was navigated within a mouse embryo (~100 mm in diameter) for mechanical measurements on the inner cell mass (18). Magnetic helical swimmers (termed nanomotors) were demonstrated to navigate inside a cell (9).…”

Section: Introductionmentioning

confidence: 99%

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Intracellular manipulation and measurement with multipole magnetic tweezers

et al. 2019

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The capability to directly interrogate intracellular structures inside a single cell for measurement and manipulation is important for understanding subcellular and suborganelle activities, diagnosing diseases, and developing new therapeutic approaches. Compared with measurements of single cells, physical measurement and manipulation of subcellular structures and organelles remain underexplored. To improve intracellular physical measurement and manipulation, we have developed a multipole magnetic tweezers system for micromanipulation involving submicrometer position control and piconewton force control of a submicrometer magnetic bead inside a single cell for measurement in different locations (spatial) and different time points (temporal). The bead was three-dimensionally positioned in the cell using a generalized predictive controller that addresses the control challenge caused by the low bandwidth of visual feedback from high-resolution confocal imaging. The average positioning error was quantified to be 0.4 μm, slightly larger than the Brownian motion–imposed constraint (0.31 μm). The system is also capable of applying a force up to 60 pN with a resolution of 4 pN for a period of time longer than 30 min. The measurement results revealed that significantly higher stiffness exists in the nucleus’ major axis than in the minor axis. This stiffness polarity is likely attributed to the aligned actin filament. We also showed that the nucleus stiffens upon the application of an intracellularly applied force, which can be attributed to the response of structural protein lamin A/C and the intracellular stress fiber actin filaments.

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Section: Introductionmentioning

confidence: 99%

“…Multipole magnetic tweezers system. (A) Applications of magnetic micromanipulation ranging from organ level(13,14), tissue level(16,17), to embryo level(18) and single-cell level. (B) The multipole magnetic tweezers was integrated with a confocal microscope.…”

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confidence: 99%

Intracellular manipulation and measurement with multipole magnetic tweezers

et al. 2019

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“…To conclude, until a new breakthrough in the field, the MRI use will be limited for micromedical device tracking. Ultrasound waves (Bourdeau et al, ; Demené, Bimbard, et al, ; Demené, Tiran, et al, ; Errico et al, ; Khalil et al, , ; Nikolov & Jensen, ) suffer from attenuation in tissue layers and from reflection at interfaces, limiting the performance trio: invasiveness, position accuracy and depth of use. Recent discoveries enable to break the barrier created by attenuation and reflections, opening a new field of applications called the “neuroimaging” and fitting with micromedical device requirements.…”

Section: Discussionmentioning

confidence: 99%

“…The authors of (Khalil et al, ) introduced a new way to rub blood clots with an helical robot, magnetically propelled and using ultrasounds for guidance. As in (Khalil et al, ), ultrasound localization feedback is used to set up a closed‐loop control and handle the motion of the microrobot (346 μm in diameter).…”

Section: Existing Tracking Systemsmentioning

confidence: 99%

Tracking systems for intracranial medical devices: A review

François

Duplat²,

Haliyo

et al. 2019

Med Devices & Sens

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In minimally invasive surgery, especially in neurosurgery, the ability to reach deep and functional structures without damage remains a major challenge. Recent breakthroughs in microtechnologies have enabled the downsizing of an increasing number of devices. In such a context, the possibility to navigate a micromedical device inside the human brain is a reachable ambition. One of the most expected applications is the identification and the treatment of early‐stage cancers which could strongly improve therapies efficiency. Despite these remarkable attainments, micromachines, to actually become revolutionary, require a tracking system at least as accurate as its size and working in an heterogeneous environment. The aim of the present paper was to provide an overview of the state of the art in medical device tracking systems for the brain. Firstly, the latest advances are categorized by technological family: magnetic field, electromagnetic waves, magnetic resonance, ultrasound waves and hybrid solutions. Secondly, in a comparative purpose, performance criteria are evaluated and displayed in radar diagrams and graphs to highlight the three dimensions challenge the systems should take up: performance, invasiveness and user experience. Finally, the present and future of each localization family are provided.

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“…[12][13][14][15][16][17][18][19][20] As a robotic system, one of the key issues of which is the controllability that demands real-time monitoring and prediction of the trajectory. [12][13][14][15][16][17][18][19][20] As a robotic system, one of the key issues of which is the controllability that demands real-time monitoring and prediction of the trajectory.…”

Section: Introductionmentioning

confidence: 99%

Hydrodynamic Impedance Correction for Reduced‐Order Modeling of Spermatozoa‐Like Soft Micro‐Robots

Tabak

2018

Advcd Theory and Sims

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Hydrodynamic interactions play a key role in the swimming behavior and power consumption of bio-inspired and biomimetic micro-swimmers, cybernetic or artificial alike. Bio-inspired robotic micro-swimmers require fast and reliable numerical models for robust control in order to carry out demanding therapeutic tasks as envisaged for more than 60 years. The fastest known numerical model, the resistive force theory (RFT), incorporates local viscous force coefficients with the local velocity of slender bodies in order to find the resisting hydrodynamic forces, however, omitting the induced far-field. As a result, the power requirement cannot be predicted accurately. The question of predicting and supplying the necessary power is one of the obstacles impeding the micro-robotic efforts. In this study, a novel strategy is proposed to improve the RFT-based analysis, particularly for spermatozoa and spermatozoa-inspired micro-swimmers with elastic slender tails, in order to present a practical solution to the problem. The postulated analytical improvement and the associated correction coefficients are based on hydrodynamic impedance analysis of the time-dependent solution of three-dimensional (3D) Navier-Stokes equations incorporated with deforming mesh and subject to conservation of mass.

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Mechanical Rubbing of Blood Clots Using Helical Robots Under Ultrasound Guidance

Cited by 73 publications

References 20 publications

Intracellular manipulation and measurement with multipole magnetic tweezers

Intracellular manipulation and measurement with multipole magnetic tweezers

Tracking systems for intracranial medical devices: A review

Hydrodynamic Impedance Correction for Reduced‐Order Modeling of Spermatozoa‐Like Soft Micro‐Robots

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