Rubbing Against Blood Clots Using Helical Robots: Modeling and In Vitro Experimental Validation
Rubbing Against Blood Clots Using Helical Robots: Modeling and In Vitro Experimental Validation
复制标题
DOI：
10.1109/lra.2017.2654546
复制
发表时间：
2017-04-01
影响因子：
5.2
通讯作者：
Sitti, Metin
中科院分区：
文献类型：
--
作者：
Khalil, Islam S. M.;Tabak, Ahmet Fatih;Sitti, Metin
通过使用较小的剂量，并通过使用螺旋机器人对血栓进行机械摩擦，可以最大限度地降低溶栓药物副作用的风险。量化这一观察结果，我们研究了摩擦对血栓的影响，在体外清除率。首先，我们提出了一个基于连续力理论的螺旋机器人的流体动力学模型，以研究由两个旋转偶极子场驱动的机器人的血块摩擦行为。其次，我们通过实验评估了摩擦对血液凝块去除率的影响。我们不仅发现机械摩擦的去除率（-0.56 +/- 0.27 mm（3）/min）大约是使用链激酶的化学裂解溶解率（-0.17 +/- 0.032 mm（3）/min）的三倍，而且我们还表明，这种去除率可以通过机器人的摩擦速度来控制。
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.