@article{8253812, title = {Mechanical rubbing of blood clots using helical robots under ultrasound guidance}, author = {Khalil, I. S. M. and Mahdy, D. and Sharkawy, A. E. and Moustafa, R. R. and Tabak, A. F. and Mitwally, M. E. and Hesham, S. and Hamdi, N. and Klingner, A. and Mohamed, A. and Sitti, M.}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, number = {2}, pages = {1112-1119}, month = jan, year = {2018}, doi = {10.1109/LRA.2018.2792156}, url = {https://ieeexplore.ieee.org/abstract/document/8253812/}, month_numeric = {1} }