Publisher's Note: “Contrast-enhanced ultrasound tracking of helical propellers with acoustic phase analysis and comparison with color Doppler” [APL Bioeng. <b>6</b>, 036102 (2022)]

Pane, Stefano; Zhang, M.; Iacovacci, Veronica; Zhang, Zifeng; Menciassi, Arianna

doi:10.1063/5.0123663

Cited by 1 publication

(1 citation statement)

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“…Lee et al drove the USHDs to a designated lesion inside a 3D coronary artery phantom through an external magnetic field and demonstrated thrombus removal. [18] Pane et al implemented real-time visualization, position tracking, and motion control of a USHD in the lumen of a tissuemimicking phantom using ultrasound phase analysis, [19,20] both in static and in dynamic flow conditions. [21] Arcese et al implemented control of a magnetically guided microrobotic system in blood vessels, and they proposed an adaptive backstepping control law that ensures a Lyapunov stable and accurate control of USHD [22] .…”

Section: Introductionmentioning

confidence: 99%

Closed‐Loop Control Characterization of Untethered Small‐Scale Helical Device in Physiological Fluid with Dynamic Flow Rates

Misra

Khalil

2023

Advanced Intelligent Systems

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Untethered small‐scale helical devices (USHDs) have the potential to navigate blood vessels and treat vascular occlusive diseases. However, there are still many challenges in translating this method into clinical practice, both in terms of localization and wireless motion control. Herein, closed‐loop control characterization of the USHD against and along physiological fluid inside a blood vessel phantom at different penetration depths is shown. First the dynamic flow and ultrasound images noise affecting the measurement are modeled, and control system of the USHD based on bifurcation analysis of a 1D hydrodynamic model is designed. Then a region of attraction of a USHD driven by a permanent magnet robotic (PMR) system inside a blood vessel phantom around an equilibrium point is constructed. Further, the point‐to‐point closed‐loop control strategy is implemented based on the magnetic point‐dipole approximation and kinematic control of the PMR system and ultrasound feedback inside physiological fluid, blood vessel, and soft tissue. The frequency response of the USHD is characterized against and along the flowing streams of fetal bovine serum within different flow rates in the 6–20 mm s−1 range. The experimental results demonstrate the ability to navigate the USHD inside blood vessel phantoms with maximum position error of mm.

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