5 accepted papers
In the design of microrobots, a helical geometry is pivotal to overcome the time-reversal constraints of the scallop theorem. The helical geometry enables the microrobots to propel themselves forward in viscous fluids with a corkscrew like motion when they are allowed to rotate. It is physically adv
Until now, the potential of untethered magnetic robots (UMRs), propelled by external time-periodic magnetic fields, has been hindered by the limitations of wireless manipulation systems or noninvasive imaging techniques combined. The need for simultaneous actuation and noninvasive localization impos…
This paper explores the application of X-ray-guided magnetic fields for the wireless control of untethered magnetic robots (UMRs) within cerebral vascular phantoms. With a focus on addressing challenges associated with strokes and brain aneurysms, the study aims to enhance neurosurgical procedures b…
One approach to the wireless actuation and gravity compensation of untethered helical magnetic devices (UHMD) is through swimming with a non-zero angle of attack (AoA). This configuration allows us to counteract gravity, so that for a given desired path, we can move the UHMD controllably without dri…
To date, all previous research in the wireless magnetic actuation of untethered helical devices has achieved motion stability using feedback control in vitro. However, feedback control systems are likely to be affected by the increased sensory uncertainty during in vivo trials. In this study we inve…