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Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the tissue interface. Few sensing and…
We optimized designs of permanent magnet systems to study the effect of magnetic nanoparticles on cell cultures in microslide channels. This produced two designs, one of which is based on a large cylindrical magnet that applies a uniform…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Magnetic skyrmions are emerging as key elements of unconventional operations having unique properties such as small size and low current manipulation. In particular, it is possible to design skyrmion-based neurons and synapses for…
Microrobots are considered as promising tools for biomedical applications. However, the imaging of them becomes challenges in order to be further applied on in vivo environments. Here we report the magnetic navigation of a paramagnetic…
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context…
The engineering space for magnetically manipulated biomedical microrobots is rapidly expanding. This includes synthetic, bioinspired, and biohybrid designs, some of which may eventually assume clinical roles aiding drug delivery or…
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
Recent advances in electroencephalography (EEG) and electromyography (EMG) enable communication for people with severe disabilities. In this paper we present a system that enables the use of regular computers using an off-the-shelf EEG/EMG…
Electrophysiological devices are critical for mapping eloquent and diseased brain regions and for therapeutic neuromodulation in clinical settings and are extensively utilized for research in brain-machine interfaces. However, the existing…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
In this paper, we propose a model-based contact-aware motion planner for autonomous navigation of neuroendovascular tools in acute ischemic stroke. The planner is designed to find the optimal control strategy for telescopic pre-bent…
In this paper, we discuss biological effects of electromagnetic (EM) fields in the context of cancer biology. In particular, we review the nanomechanical properties of microtubules (MTs), the latter being one of the most successful targets…
We study the formation and dynamics of dipolar rings composed by microscopic ferromagnetic ellipsoids, which self-assemble in water by switching the direction of the applied field. We show how to manipulate these fragile structures and…
A permanent magnet array (PMA) is a preferred source of magnetic field for body-part-dedicated low-field (<0.5 T) portable magnetic resonance imaging (MRI) because it has a small footprint, no power consumption, and no need for a cooling…
Electrically powered micro- and nanomotors are promising tools for in-vitro single-cell analysis. In particular, single cells can be trapped, transported and electroporated by a Janus particle (JP) using an externally applied electric…
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…
Navigating and localizing in partially observable, stochastic environments with magnetic anomalies presents significant challenges, especially when balancing the accuracy of state estimation and the stability of localization. Traditional…
A mathematical model is presented for predicting magnetic targeting of multifunctional carrier particles that are designed to deliver therapeutic agents to malignant tissue in vivo. These particles consist of a nonmagnetic core material…