Evgenia Roussinova, Olivier Brina, William Galand, Philippe Reymond, Silvestro Micera, Paolo Machi, Mohamed Bouri
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A model-based clot detection method was developed.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>Clot stiffness, initial clot volume, and insertion pressure were all found to impact the guidewire-clot interaction forces. In detecting the clot's proximal and distal edges, we achieved success rates of 86.5% and 71.2%, respectively, within a tolerance of <span></span><math>\n <semantics>\n <mrow>\n <mo>±</mo>\n </mrow>\n <annotation> $\\pm $</annotation>\n </semantics></math> 1.5 mm.</p>\n </section>\n \n <section>\n \n <h3> Conclusions</h3>\n \n <p>The study brings new perspectives for mechanical thrombectomy by demonstrating that multiple parameters influence the occlusion's mechanical state and by proposing algorithms for identifying the clot's extremities.</p>\n </section>\n </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 5","pages":""},"PeriodicalIF":2.1000,"publicationDate":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70109","citationCount":"0","resultStr":"{\"title\":\"Potential of Guidewire-Clot Interaction Forces for Clot Detection in Robotic Mechanical Thrombectomy\",\"authors\":\"Evgenia Roussinova, Olivier Brina, William Galand, Philippe Reymond, Silvestro Micera, Paolo Machi, Mohamed Bouri\",\"doi\":\"10.1002/rcs.70109\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n \\n <section>\\n \\n <h3> Background</h3>\\n \\n <p>Interventional neuroradiologists currently miss crucial information when facing an ischaemic stroke case as they cannot localise the thrombus precisely nor determine its mechanical properties, which are both important for the clot extraction procedure.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Methods</h3>\\n \\n <p>In this in vitro study, clot analogues of different stiffnesses and dimensions were inserted in an idealised arterial phantom using distinct insertion pressure levels. Guidewire-clot interaction forces were recorded using a robotic device equipped with a force sensor. A model-based clot detection method was developed.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Results</h3>\\n \\n <p>Clot stiffness, initial clot volume, and insertion pressure were all found to impact the guidewire-clot interaction forces. In detecting the clot's proximal and distal edges, we achieved success rates of 86.5% and 71.2%, respectively, within a tolerance of <span></span><math>\\n <semantics>\\n <mrow>\\n <mo>±</mo>\\n </mrow>\\n <annotation> $\\\\pm $</annotation>\\n </semantics></math> 1.5 mm.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Conclusions</h3>\\n \\n <p>The study brings new perspectives for mechanical thrombectomy by demonstrating that multiple parameters influence the occlusion's mechanical state and by proposing algorithms for identifying the clot's extremities.</p>\\n </section>\\n </div>\",\"PeriodicalId\":50311,\"journal\":{\"name\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"volume\":\"21 5\",\"pages\":\"\"},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2025-09-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70109\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"FirstCategoryId\":\"3\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70109\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"SURGERY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Medical Robotics and Computer Assisted Surgery","FirstCategoryId":"3","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70109","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"SURGERY","Score":null,"Total":0}
Potential of Guidewire-Clot Interaction Forces for Clot Detection in Robotic Mechanical Thrombectomy
Background
Interventional neuroradiologists currently miss crucial information when facing an ischaemic stroke case as they cannot localise the thrombus precisely nor determine its mechanical properties, which are both important for the clot extraction procedure.
Methods
In this in vitro study, clot analogues of different stiffnesses and dimensions were inserted in an idealised arterial phantom using distinct insertion pressure levels. Guidewire-clot interaction forces were recorded using a robotic device equipped with a force sensor. A model-based clot detection method was developed.
Results
Clot stiffness, initial clot volume, and insertion pressure were all found to impact the guidewire-clot interaction forces. In detecting the clot's proximal and distal edges, we achieved success rates of 86.5% and 71.2%, respectively, within a tolerance of 1.5 mm.
Conclusions
The study brings new perspectives for mechanical thrombectomy by demonstrating that multiple parameters influence the occlusion's mechanical state and by proposing algorithms for identifying the clot's extremities.
期刊介绍：
The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.
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