{"doi":"10.1109/ius46767.2020.9251445","title":"In Vitro Testing of a Cobot System to Assist Histotripsy Clot Ablation","abstract":"Histotripsy is a noninvasive focused ultrasound therapy for bubble cloud-induced ablation of tissue, including venous thrombosis. The total targeted volume can be much larger than the focal volume, and the histotripsy source must be translated to ensure uniform exposure. Recent advances in automation have given rise to collaborative robots (cobots) that can be operated without the need for advanced training. The objective of this study was to determine the accuracy of cobot-assisted histotripsy for venous clot ablation in vitro. A six-axis cobot was controlled using a custom interface in order to apply histotripsy pulses along the length of a clot under ultrasound image guidance. Passive cavitation images were formed to identify the locations of intense bubble activity in reference to the center of the clot. For all insonation locations, bubble activity was contained within the clot and within a millimeter of the target (i.e. the center of the clot). Overall, these results demonstrate cobot-aided histotripsy ablation with ultrasound image guidance is effective for ablation over extended tissue targets.","journal":null,"year":2020,"id":127683,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":1,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9569,"is_data_producer":false,"deposit_databanks":null,"is_oa":false,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2020-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":500849,"name":"Samuel A. Hendley","orcid":"0000-0002-6974-9103","position":1,"is_corresponding":false},{"id":500848,"name":"Kenneth B. Bader","orcid":"0000-0003-2384-3150","position":0,"is_corresponding":true}],"reference_count":19,"raw_metadata":null,"created_at":"2026-07-18T23:15:34.966380Z","pmid":null,"pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}