CPS: Medium: Collaborative Research: Wireless Magnetic Millibot Blood Clot Removal and Navigation in 3-D Printed Patient-Specific Phantoms using Echocardiography

CPS：中：合作研究：使用超声心动图在 3D 打印的患者特异性体模中进行无线磁性 Millibot 血凝块去除和导航

• 批准号: 1932572
• 负责人: Aaron Becker
• 金额: $ 51.51万
• 依托单位: University of Houston
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-09-15 至 2024-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1932572&HistoricalAwards=false
• 关键词: CPS; Medium; Collaborative; Research; Wireless

Human blood clots kill an estimated 100,000 to 300,000 Americans each year. Current treatments rely on medications that break down clots, which can be combined with a surgical procedure that mechanically alters the clot. However, clot-busting medications and surgery are both linked to unintended adverse events. This project designs and studies miniature magnetic swimmers as a minimally invasive alternative to these treatments. These devices are millimeter-scale objects that have a helical shape and contain a small permanent magnet. A rotating magnetic field is used to remotely control the swimmers. The field makes the swimmer rotate and the helical shape converts the rotational movement into a propulsive force (much like a boat's propeller). The swimmers can be steered by changing the orientation of the applied magnetic field. They can precisely navigate within liquids along pre-defined 3D paths and could potentially navigate within the bloodstream toward a blood clot. The rotational movement can be used to abrade the clot and restore an appropriate blood flow.This project introduces new biomedical paradigms and investigates the robust high-speed tetherless manipulation of magnetic swimmers in complex, time-varying environments. It requires multiple swimmer designs, innovative controllers, and integrated, dynamic sensing modalities. The project is divided into three synergetic objectives. First, a fluid-dynamics model for the swimmer must be created and validated experimentally. This model will be used to optimize the swimmer's geometry. Secondly, a robust swimmer controller will be built. The controller must be able to compensate for the variable blood flow present in the arteries. An ultrasound scanner will be used to track the position of the swimmer and obtain useful information about its environment. For example, the velocity of the swimmer can be used to infer the blood flow velocity. Finally, the feasibility of several surgical procedures will be studied via ex-vivo experiments. 3D navigation together with the removal of human blood clots will be performed inside a human heart phantom. Several swimmers end effectors will also be tested.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

每年估计有10万到30万美国人死于人类血栓。目前的治疗方法依赖于分解凝块的药物，这可以与机械改变凝块的外科手术相结合。然而，血栓破坏药物和手术都与意外的不良事件有关。本项目设计和研究微型磁泳作为这些治疗的微创替代方案。这些设备是毫米级的物体，具有螺旋形状，并包含一个小的永磁体。旋转磁场被用来远程控制游泳者。磁场使游泳者旋转，螺旋形状将旋转运动转化为推进力（很像船的螺旋桨）。游泳者可以通过改变所施加的磁场的方向来操纵。它们可以沿着沿着预定义的3D路径在液体中精确导航，并且可能在血流中朝向血凝块导航。旋转运动可用于磨损凝块并恢复适当的血液流动。该项目引入了新的生物医学范例，并研究了在复杂的时变环境中磁泳者的鲁棒高速无绳操纵。它需要多个游泳者设计，创新的控制器和集成的动态传感模式。该项目分为三个协同目标。首先，必须建立游泳者的流体动力学模型并进行实验验证。该模型将用于优化游泳者的几何形状。其次，将建立一个鲁棒的游泳控制器。控制器必须能够补偿动脉中存在的可变血流。超声波扫描仪将用于跟踪游泳者的位置，并获得有关其环境的有用信息。例如，游泳者的速度可用于推断血流速度。最后，将通过离体实验研究几种外科手术的可行性。将在人体心脏体模内进行3D导航以及人体血凝块的清除。该奖项反映了NSF的法定使命，并被认为值得通过使用基金会的智力价值和更广泛的影响审查标准进行评估的支持。

项目成果

Computing Motion Plans for Assembling Particles with Global Control

使用全局控制计算组装粒子的运动计划

• DOI: 10.1109/iros55552.2023.10341556
• 发表时间: 2023
• 期刊: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Blumenberg, Patrick;Schmidt, Arne;Becker, Aaron T.
• 通讯作者: Becker, Aaron T.

3D Path-Following Using MRAC on a Millimeter-Scale Spiral-Type Magnetic Robot

• DOI: 10.1109/lra.2020.2969159
• 发表时间: 2020-01
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Haoran Zhao;J. Leclerc;Maria Feucht;Olivia Bailey;Aaron T. Becker

Enumeration of Polyominoes & Polycubes Composed of Magnetic Cubes

• DOI: 10.1109/iros51168.2021.9636784
• 发表时间: 2021-07
• 期刊: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Yitong Lu;Anuruddha Bhattacharjee;Daniel Biediger;Min-Joo Kim;Aaron T. Becker

Coordinated Particle Relocation with Global Signals and Local Friction (Media Exposition)

通过全局信号和局部摩擦协调粒子重定位（媒体博览会）

• DOI: 10.4230/lipics.socg.2020.72
• 发表时间: 2020
• 期刊: 36th International Symposium on Computational Geometry (SoCG 2020
• 作者: Baez, Victor M.;Becker, Aaron T.;Fekete, S;Schmidt, Arne
• 通讯作者: Schmidt, Arne

Agile 3D-Navigation of a Helical Magnetic Swimmer

螺旋磁力游泳器的敏捷 3D 导航

• DOI: 10.1109/icra40945.2020.9197323
• 发表时间: 2020
• 期刊: 2020 IEEE International Conference on Robotics and Automation (ICRA
• 作者: Leclerc, Julien;Zhao, Haoran;Bao, Daniel Z.;Becker, Aaron T.;Ghosn, Mohamad;Shah, Dipan J.
• 通讯作者: Shah, Dipan J.