Ultrasound-guided minimally invasive grinding for clearing blood clots: promises and challenges
Ultrasound-guided minimally invasive grinding for clearing blood clots: promises and challenges
复制标题
超声引导微创磨削清除血栓：前景与挑战
DOI：
10.1109/mim.2018.8327972
复制
发表时间：
2018
影响因子：
2.1
通讯作者：
I. Khalil
中科院分区：
文献类型：
--
作者：
Dalia Mahdy;R. Moustafa;N. Hamdi;I. Khalil
机械清除血栓是治疗循环系统中病理性血栓形成引起的血管疾病的一种很有前途的方法。这些血栓可以形成并传播到循环系统的深层区域，当通过血栓的血液流动受阻时，会导致严重的问题。一种微小的螺旋微型机器人(图1a)在微创清除这些凝块方面提供了巨大的希望。最初由石山等人在东北大学提出的微型机器人的简单设计，使其能够在微米和纳米尺度上制造[1]。将磁性材料结合到螺旋微型机器人上，使它们能够使用外部磁场和反馈控制进行可控的导航[2]。使用电磁线圈或旋转永磁体的配置来提供外部磁场来源，而几个研究小组依靠视觉反馈来设计反馈控制系统。
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.