Fig. 3: In vitro experimental setup and results.

a Schematic of the bench-top blood circulation and magnetic actuation setup. b A representative visual comparison of control vs. actuated self-clearing catheter at the conclusion of the experiment. Scale bar = 1.5 mm. Inset: SEM images obtained from hematoma fragments of the control group. White arrows depict the robust fibrin network left unscathed and covering red blood cells. The hematoma fragments of the actuating group lack the fibrin network surrounding the red blood cells (n = 1, each). Scale bar = 10 μm. c Differential pressure (P2–P1) recording of all control catheters (n = 4). d Differential pressure (P2–P1) recording of all flushing catheters (n = 6). Note the frequent pressure spikes associated with each flushing. e Differential pressure (P2–P1) recording of all self-clearing catheters (n = 11). The figure includes data from five straight and six serpentine devices. f Comparison of time-to-occlusion (TTO) to reach 40 mmHg between the control catheters (n = 4), catheters that underwent flushing (n = 6), and self-clearing catheters. There were two versions of self-clearing catheters with either straight (n = 5) vs. serpentine flexure (n = 6) microactuators. One-way ANOVA with Tukey’s HSD analysis showed overall statistical significance between groups. The multiple comparisons between groups show significance as indicated. Each data point represents a different experiment using an independent sample. The box plot shows the interquartile range (IQR), the horizontal lines within the boxes are median. The x indicates the mean, and the whiskers represent the minima and the maxima of the data with outliers defined as data beyond 1.5× IQR. g Comparison of the total time over the threshold (TOT). One-way ANOVA with Tukey’s HSD analysis confirmed overall statistical significance between groups. The multiple comparisons between groups show significance as indicated. The sample size for each group is the same as in (f) and the box plots are defined in the same manner. Each data point represents a different experiment using an independent sample.