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.

据估计，每年有10万到30万美国人死于人体血栓。目前的治疗方法依赖于分解血栓的药物，这可以与机械改变血栓的外科手术相结合。然而，溶栓药物和手术都与意想不到的不良事件有关。本项目设计和研究微型磁性游泳器作为这些治疗的微创替代方案。这些装置是毫米级的物体，具有螺旋形状，并包含一个小型永磁体。一个旋转的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外加磁场的方向来控制方向。它们可以沿着预先定义的3D路径在液体中精确导航，并可能在血液中导航到血凝块。旋转运动可用于清除血块并恢复适当的血流。该项目引入了新的生物医学范式，并研究了在复杂的、时变的环境中对磁性游泳者进行稳健的高速无系绳操纵。它需要多种游泳设计、创新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。这个模型将用于优化游泳者的几何形状。其次，构建一个健壮的游泳控制器。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，游泳者的速度可以用来推断血液流动的速度。最后，将通过离体实验研究几种外科手术的可行性。3D导航和去除人体血块将在人体心脏幻影中进行。几个游泳运动员的末端执行器也将被测试。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

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.