Magnetic localization and control of helical robots for clearing superficial blood clots
This work presents an approach for the localization and control of helical robots during removal of superficial blood clots inside in vitro and ex vivo models. The position of the helical robot is estimated using an array of Hall-effect sensors and precalculated magnetic field map of two synchronize...
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Online Access: | http://dx.doi.org/10.1063/1.5090872 |
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doaj-7435d57b428244c2925a4a9815aec5ba2020-11-25T01:48:29ZengAIP Publishing LLCAPL Bioengineering2473-28772019-06-0132026104026104-1010.1063/1.5090872004902APBMagnetic localization and control of helical robots for clearing superficial blood clotsIslam S. M. Khalil0Alaa Adel1Dalia Mahdy2Mina M. Micheal3Mohanad Mansour4Nabila Hamdi5Sarthak Misra6 Department of Biomechanical Engineering, University of Twente, Enschede 7500 AE, The Netherlands Department of Mechatronics Engineering, The German University in Cairo, New Cairo 11835, Egypt Department of Mechatronics Engineering, The German University in Cairo, New Cairo 11835, Egypt Department of Mechatronics Engineering, The German University in Cairo, New Cairo 11835, Egypt Department of Mechatronics Engineering, The German University in Cairo, New Cairo 11835, Egypt Department of Pharmacology and Toxicology, The German University in Cairo, New Cairo 11835, Egypt Department of Biomechanical Engineering, University of Twente, Enschede 7500 AE, The NetherlandsThis work presents an approach for the localization and control of helical robots during removal of superficial blood clots inside in vitro and ex vivo models. The position of the helical robot is estimated using an array of Hall-effect sensors and precalculated magnetic field map of two synchronized rotating dipole fields. The estimated position is used to implement closed-loop motion control of the helical robot using the rotating dipole fields. We validate the localization accuracy by visual feedback and feature tracking inside the in vitro model. The experimental results show that the magnetic localization of a helical robot with diameter of 1 mm can achieve a mean absolute position error of 2.35 ± 0.4 mm (n = 20). The simultaneous localization and motion control of the helical robot enables propulsion toward a blood clot and clearing at an average removal rate of 0.67 ± 0.47 mm3/min. This method is used to localize the helical robot inside a rabbit aorta (ex vivo model), and the localization accuracy is validated using ultrasound feedback with a mean absolute position error of 2.6 mm.http://dx.doi.org/10.1063/1.5090872 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Islam S. M. Khalil Alaa Adel Dalia Mahdy Mina M. Micheal Mohanad Mansour Nabila Hamdi Sarthak Misra |
spellingShingle |
Islam S. M. Khalil Alaa Adel Dalia Mahdy Mina M. Micheal Mohanad Mansour Nabila Hamdi Sarthak Misra Magnetic localization and control of helical robots for clearing superficial blood clots APL Bioengineering |
author_facet |
Islam S. M. Khalil Alaa Adel Dalia Mahdy Mina M. Micheal Mohanad Mansour Nabila Hamdi Sarthak Misra |
author_sort |
Islam S. M. Khalil |
title |
Magnetic localization and control of helical robots for clearing superficial blood clots |
title_short |
Magnetic localization and control of helical robots for clearing superficial blood clots |
title_full |
Magnetic localization and control of helical robots for clearing superficial blood clots |
title_fullStr |
Magnetic localization and control of helical robots for clearing superficial blood clots |
title_full_unstemmed |
Magnetic localization and control of helical robots for clearing superficial blood clots |
title_sort |
magnetic localization and control of helical robots for clearing superficial blood clots |
publisher |
AIP Publishing LLC |
series |
APL Bioengineering |
issn |
2473-2877 |
publishDate |
2019-06-01 |
description |
This work presents an approach for the localization and control of helical robots during removal of superficial blood clots inside in vitro and ex vivo models. The position of the helical robot is estimated using an array of Hall-effect sensors and precalculated magnetic field map of two synchronized rotating dipole fields. The estimated position is used to implement closed-loop motion control of the helical robot using the rotating dipole fields. We validate the localization accuracy by visual feedback and feature tracking inside the in vitro model. The experimental results show that the magnetic localization of a helical robot with diameter of 1 mm can achieve a mean absolute position error of 2.35 ± 0.4 mm (n = 20). The simultaneous localization and motion control of the helical robot enables propulsion toward a blood clot and clearing at an average removal rate of 0.67 ± 0.47 mm3/min. This method is used to localize the helical robot inside a rabbit aorta (ex vivo model), and the localization accuracy is validated using ultrasound feedback with a mean absolute position error of 2.6 mm. |
url |
http://dx.doi.org/10.1063/1.5090872 |
work_keys_str_mv |
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