Soft Micro Robotics

Project Information

SOMBOT

Grant agreement ID: 743217

DOI 10.3030/743217

Project closed

EC signature date 24 July 2017

Start date 1 October 2017

End date 30 September 2023

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 2 500 000,00

EU contribution € 2 500 000,00

Coordinated by

EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH
Switzerland

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Peer reviewed articles (44)

Self-folding soft-robotic chains with reconfigurable shapes and functionalities

Author(s): Hongri Gu; Marino Möckli; Claas Ehmke; Minsoo Kim; Matthias Wieland; Simon Moser; Clemens Bechinger; Quentin Boehler; Bradley J. Nelson
Published in: Nature Communications, 14 (1), Issue 1, 2023, ISSN 2041-1723
Publisher: Nature Publishing Group
DOI: 10.1038/s41467-023-36819-z

CANDYBOTS: A New Generation of 3D-Printed Sugar-Based Transient Small-Scale Robots

Author(s): Simone Gervasoni; Anastasia Terzopoulou; Carlos Franco; Andrea Veciana; Norman Pedrini; Jan T. Burri; Carmela De Marco; Erdem C. Siringil; Xiang-Zhong Chen; Bradley J. Nelson; Josep Puigmartí-Luis; Josep Puigmartí-Luis; Salvador Pané
Published in: Advanced Materials, 2020, ISSN 1521-4095
Publisher: Wiley
DOI: 10.1002/adma.202005652

Thermoset Shape Memory Polymer Variable Stiffness 4D Robotic Catheters.

Author(s): Michael Mattmann; Carmela De Marco; Francesco Briatico; Stefano Tagliabue; Aron Colusso; Xiang-Zhong Chen; Jonas Lussi; Christophe Chautems; Salvador Pané; Bradley J. Nelson
Published in: Advanced Science, 2021, ISSN 2219-7478
Publisher: Wiley
DOI: 10.3929/ethz-b-000513044

Using Magnetic Fields to Navigate and Simultaneously Localize Catheters in Endoluminal Environments

Author(s): Cedric Fischer; Quentin Boehler; Bradley J. Nelson
Published in: IEEE Robotics and Automation Letters, 7 (3), Issue 1, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3181420

Metal–Organic Frameworks in Motion

Author(s): Anastasia Terzopoulou, James D. Nicholas, Xiang-Zhong Chen, Bradley J. Nelson, Salvador Pané, Josep Puigmartí-Luis
Published in: Chemical Reviews, 2020, ISSN 0009-2665
Publisher: American Chemical Society
DOI: 10.1021/acs.chemrev.0c00535

Investigation of Magnetotaxis of Reconfigurable Micro‐Origami Swimmers with Competitive and Cooperative Anisotropy

Author(s): Huang, Hen-Wei; Huang, Tian-Yun; Charilaou, Michalis; Lyttle, Sean; Zhang, Qi; Pané, Salvador; Nelson, Bradley J.
Published in: Advanced Functional Materials, 28 (36), 2018, ISSN 1616-3028
Publisher: Wiley
DOI: 10.1002/adfm.201802110

Magnetically Active Cardiac Patches as an Untethered, Non‐Blood Contacting Ventricular Assist Device

Author(s): Gu, Hongri; Bertrand, Thibaud; Boehler, Quentin; Chautems, Christophe; Vasilyev, Nikolay V.; Nelson, Bradley
Published in: Advanced Science, 2020, ISSN 2219-7478
Publisher: Wiley
DOI: 10.3929/ethz-b-000453540

Strain‐Sensitive Flexible Magnetoelectric Ceramic Nanocomposites

Author(s): Minsoo Kim; Donghoon Kim; Buse Aktas; Hongsoo Choi; Josep Puigmartí‐Luis; Bradley J. Nelson; Salvador Pané; Xiang‐Zhong Chen
Published in: Advanced Materials Technologies, 8 (6), Issue 1, 2023, ISSN 2365-709X
Publisher: Wiley
DOI: 10.1002/admt.202202097

Modeling Electromagnetic Navigation Systems

Author(s): Samuel Charreyron; Quentin Boehler; Byung Soo Kim; Cameron Weibel; Christophe Chautems; Bradley J. Nelson
Published in: IEEE Transactions on Robotics, 37 (4), 2021, ISSN 1941-0468
Publisher: IEEE
DOI: 10.3929/ethz-b-000468301

Numerical Study of Metachronal Wave‐Modulated Locomotion in Magnetic Cilia Carpets

Author(s): Hao Jiang; Hongri Gu; Bradley J. Nelson; Teng Zhang
Published in: Advanced Intelligent Systems, Issue 1, 2023, ISSN 2640-4567
Publisher: Weinheim: Wiley-VCH Verlag GmbH & Co. KGaA
DOI: 10.1002/aisy.202300212

A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control

Author(s): Jonas Lussi; Michael Mattmann; Semih Sevim; Fabian Grigis; Carmela De Marco; Christophe Chautems; Salvador Pané; Josep Puigmartí-Luis; Quentin Boehler; Bradley J. Nelson
Published in: Advanced Science, 8 (18), 2021, ISSN 2219-7478
Publisher: Wiley
DOI: 10.1002/advs.202101290

3D Printed Template-Assisted Casting of Biocompatible Polyvinyl Alcohol-Based Soft Microswimmers with Tunable Stability

Author(s): Roger Sanchis-Gual, Hao Ye, Towa Ueno, Fabian C. Landers, Lukas Hertle, Siyu Deng, Andrea Veciana, Yanming Xia, Carlos Franco, Hongsoo Choi, Josep Puigmartí-Luis, Bradley J. Nelson, Xiang-Zhong Chen, Salvador Pané
Published in: Advanced Functional Materials, 2023, ISSN 1616-3028
Publisher: Wiley-VCH GmbH
DOI: 10.1002/adfm.202212952

Acoustically Mediated Controlled Drug Release and Targeted Therapy with Degradable 3D Porous Magnetic Microrobots.

Author(s): Jongeon Park; Jin-young Kim; Salvador Pané; Bradley J. Nelson; Hongsoo Choi
Published in: Advanced Healthcare Materials, 10 (2), 2021, ISSN 2192-2659
Publisher: World Scientific
DOI: 10.1002/adhm.202001096

Artificial microtubules for rapid and collective transport of magnetic microcargoes

Author(s): Hongri Gu; Emre Hanedan; Quentin Boehler; Tian-Yun Huang; Arnold J. T. M. Mathijssen; Bradley J. Nelson
Published in: Nature Machine Intelligence, Issue 1, 2022, ISSN 2522-5839
Publisher: Nature Research
DOI: 10.1038/s42256-022-00510-7

Shape-memory effect in twisted ferroic nanocomposites

Author(s): Donghoon Kim; Minsoo Kim; Steffen Reidt; Hyeon Han; Ali Baghizadeh; Peng Zeng; Hongsoo Choi; Josep Puigmartí-Luis; Morgan Trassin; Bradley J. Nelson; Xiang-Zhong Chen; Salvador Pané
Published in: Nature Communications, 14, Issue 1, 2023, ISSN 2041-1723
Publisher: Nature Publishing Group
DOI: 10.1038/s41467-023-36274-w

Helical Klinotactic Locomotion of Two-Link Nanoswimmers with Dual-Function Drug-Loaded Soft Polysaccharide Hinges.

Author(s): Jiaen Wu; Bumjin Jang; Yuval Harduf; Zvi Chapnik; Ömer Bartu Avci; Xiang-Zhong Chen; Josep Puigmartí-Luis; Olgaç Ergeneman; Bradley J. Nelson; Yizhar Or; Salvador Pané
Published in: Advanced Science, 2021, ISSN 2219-7478
Publisher: Wiley
DOI: 10.1002/advs.202004458

Magnetically Guided Laser Surgery for the Treatment of Twin‐to‐Twin Transfusion Syndrome

Author(s): Jonas Lussi; Simone Gervasoni; Michelle Mattille; Roland Dreyfus; Quentin Boehler; Michael Reinehr; Nicole Ochsenbein; Bradley J Nelson; Ueli Moehrlen
Published in: Advanced Intelligent Systems, Issue 1, 2022, ISSN 2640-4567
Publisher: Wiley-VCH
DOI: 10.1002/aisy.202200182

Increasingly Intelligent Micromachines

Author(s): Tian-Yun Huang; Hongri Gu; Bradley J. Nelson
Published in: Annual Review of Control, Robotics, and Autonomous Systems, Issue 1, 2022, ISSN 2573-5144
Publisher: Annual Reviews
DOI: 10.1146/annurev-control-042920-013322

Magnetically Assisted Robotic Fetal Surgery for the Treatment of Spina Bifida

Author(s): Gervasoni, Simone; Lussi, Jonas; Viviani, Silvia; Boehler, Quentin; id_orcid0000-0001-7573-3135; Ochsenbein, Nicole; Moehrlen, Ueli; Nelson, Bradley; id_orcid0000-0001-9070-6987
Published in: IEEE Transactions on Medical Robotics and Bionics, 2021, ISSN 2576-3202
Publisher: IEEE
DOI: 10.1109/tmrb.2022.3146351

Magnetic concentric tube robots: introduction and analysis

Author(s): Quentin Peyron, Quentin Boehler, Patrick Rougeot, Pierre Roux, Bradley J. Nelson, Nicolas Andreff, Kanty Rabenorosoa, Pierre Renaud
Published in: The International Journal of Robotics Research, 2022, ISSN 1741-3176
Publisher: Sage
DOI: 10.1177/02783649211071113

On the Workspace of Electromagnetic Navigation Systems

Author(s): Quentin Boehler; Simone Gervasoni; Samuel L. Charreyron; Christophe Chautems; Bradley J. Nelson
Published in: IEEE Transactions on Robotics, Issue 5, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.3929/ethz-b-000566922

Gradiometer-based magnetic localization for medical tools

Author(s): Cedric Fischer; Thomas Quirin; Christophe Chautems; Quentin Boehler; Joris Pascal; Bradley J. Nelson
Published in: IEEE Transactions on Magnetics, Issue 1, 2022, ISSN 0018-9464
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.3929/ethz-b-000570973

Bioinspired acousto-magnetic microswarm robots with upstream motility

Author(s): Daniel Ahmed; Alexander Sukhov; David Hauri; Dubon Rodrigue; Gian Maranta; Jens Harting; Jens Harting; Bradley J. Nelson
Published in: Nature machine intelligence 3(2), 116 - 124 (2021), 2021, ISSN 2522-5839
Publisher: Springer Nature
DOI: 10.1038/s42256-020-00275-x

Neutrophil-inspired propulsion in a combined acoustic and magnetic field

Author(s): Daniel Ahmed, Thierry Baasch, Nicolas Blondel, Nino Läubli, Jürg Dual, Bradley J. Nelson
Published in: Nature Communications, Issue 8/1, 2017, ISSN 2041-1723
Publisher: Nature Publishing Group
DOI: 10.1038/s41467-017-00845-5

Matryoshka-Inspired Micro-Origami Capsules to Enhance Loading, Encapsulation, and Transport of Drugs

Author(s): Hen-Wei Huang, Mark W. Tibbitt, Tian-Yun Huang, Bradley J. Nelson
Published in: Soft Robotics, Issue 6/1, 2019, Page(s) 150-159, ISSN 2169-5172
Publisher: Mary Ann Liebert Inc.
DOI: 10.1089/soro.2018.0028

3D path planning for flexible needle steering in neurosurgery

Author(s): Ayoung Hong, Quentin Boehler, Roman Moser, Ajmal Zemmar, Lennart Stieglitz, Bradley J. Nelson
Published in: The International Journal of Medical Robotics and Computer Assisted Surgery, 2019, Page(s) e1998, ISSN 1478-5951
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/rcs.1998

Adaptive locomotion of artificial microswimmers

Author(s): H.-W. Huang, F. E. Uslu, P. Katsamba, E. Lauga, M. S. Sakar, B. J. Nelson
Published in: Science Advances, Issue 5/1, 2019, Page(s) eaau1532, ISSN 2375-2548
Publisher: American Association for the Advancement of Science
DOI: 10.1126/sciadv.aau1532

3D Printed Enzymatically Biodegradable Soft Helical Microswimmers

Author(s): Xiaopu Wang, Xiao-Hua Qin, Chengzhi Hu, Anastasia Terzopoulou, Xiang-Zhong Chen, Tian-Yun Huang, Katharina Maniura-Weber, Salvador Pané, Bradley J. Nelson
Published in: Advanced Functional Materials, Issue 28/45, 2018, Page(s) 1804107, ISSN 1616-301X
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/adfm.201804107

Soft Micro- and Nanorobotics

Author(s): Chengzhi Hu, Salvador Pané, Bradley J. Nelson
Published in: Annual Review of Control, Robotics, and Autonomous Systems, Issue 1/1, 2018, Page(s) 53-75, ISSN 2573-5144
Publisher: Annual Reviews
DOI: 10.1146/annurev-control-060117-104947

A Magnetically Steered Endolaser Probe for Automated Panretinal Photocoagulation

Author(s): Samuel L. Charreyron, Edoardo Gabbi, Quentin Boehler, Matthias Becker, Bradley J. Nelson
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 284-290, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2888894

Design and Evaluation of a Steerable Magnetic Sheath for Cardiac Ablations

Author(s): Christophe Chautems, Sean Lyttle, Quentin Boehler, Bradley J. Nelson
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2123-2128, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2809546

Surface-Chemistry-Mediated Control of Individual Magnetic Helical Microswimmers in a Swarm

Author(s): Xiaopu Wang, Chengzhi Hu, Lukas Schurz, Carmela De Marco, Xiangzhong Chen, Salvador Pané, Bradley J. Nelson
Published in: ACS Nano, Issue 12/6, 2018, Page(s) 6210-6217, ISSN 1936-0851
Publisher: American Chemical Society
DOI: 10.1021/acsnano.8b02907

High‐Resolution SPECT Imaging of Stimuli‐Responsive Soft Microrobots

Author(s): Veronica Iacovacci, Alain Blanc, Henwei Huang, Leonardo Ricotti, Roger Schibli, Arianna Menciassi, Martin Behe, Salvador Pané, Bradley J. Nelson
Published in: Small, Issue 15/34, 2019, Page(s) 1900709, ISSN 1613-6810
Publisher: Wiley - V C H Verlag GmbbH & Co.
DOI: 10.1002/smll.201900709

Nanomagnetic encoding of shape-morphing micromachines

Author(s): Jizhai Cui, Tian-Yun Huang, Zhaochu Luo, Paolo Testa, Hongri Gu, Xiang-Zhong Chen, Bradley J. Nelson, Laura J. Heyderman
Published in: Nature, Issue 575/7781, 2019, Page(s) 164-168, ISSN 0028-0836
Publisher: Nature Publishing Group
DOI: 10.1038/s41586-019-1713-2

Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery

Author(s): Christophe Chautems, Alice Tonazzini, Quentin Boehler, Seung Hee Jeong, Dario Floreano, Bradley J. Nelson
Published in: Advanced Intelligent Systems, 2019, Page(s) 1900086, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.201900086

Magnetic quadrupole assemblies with arbitrary shapes and magnetizations

Author(s): Hongri Gu, Quentin Boehler, Daniel Ahmed, Bradley J. Nelson
Published in: Science Robotics, Issue 4/35, 2019, Page(s) eaax8977, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.aax8977

Magnetic cilia carpets with programmable metachronal waves

Author(s): Hongri Gu, Quentin Boehler, Haoyang Cui, Eleonora Secchi, Giovanni Savorana, Carmela De Marco, Simone Gervasoni, Quentin Peyron, Tian-Yun Huang, Salvador Pane, Ann M. Hirt, Daniel Ahmed, Bradley J. Nelson
Published in: Nature Communications, Issue 11/1, 2020, ISSN 2041-1723
Publisher: Nature Publishing Group
DOI: 10.1038/s41467-020-16458-4

A Magnetically Navigated Microcannula for Subretinal Injections

Author(s): Samuel Lucas Charreyron, Quentin Boehler, Aschraf Danun, Alexandre Mesot, Matthias Becker, Bradley J. Nelson
Published in: IEEE Transactions on Biomedical Engineering, 2020, Page(s) 1-1, ISSN 0018-9294
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tbme.2020.2996013

Dynamic Modeling of Magnetic Helical Microrobots

Author(s): Xiaopu Wang; Chengzhi Hu; Salvador Pané; Bradley J. Nelson
Published in: IEEE Robotics and Automation Letters, 7 (2), 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3049112

Biotemplating of Metal–Organic Framework Nanocrystals for Applications in Small‐Scale Robotics

Author(s): Anastasia Terzopoulou; Mario Palacios‐Corella; Carlos Franco; Semih Sevim; Thomas Dysli; Fajer Mushtaq; María Romero‐Angel; Carlos Martí‐Gastaldo; De Gong; Jun Cai; Xiang‐Zhong Chen; Martin Pumera; Andrew J. deMello; Bradley J. Nelson; Salvador Pané; Josep Puigmartí‐Luis
Published in: Advanced Functional Materials, 2021, ISSN 1616-3028
Publisher: Wiley
DOI: 10.1002/adfm.202107421

Magnetically Actuated Medical Robots: An in vivo Perspective

Author(s): Bradley J. Nelson; Simone Gervasoni; Philip W. Y. Chiu; Li Zhang; Ajmal Zemmar
Published in: Proceedings of the IEEE, 110 (7), Issue 1, 2022, ISSN 0018-9219
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jproc.2022.3165713

A decade retrospective of medical robotics research from 2010 to 2020.

Author(s): Pierre E. Dupont; Bradley J. Nelson; Michael Goldfarb; Blake Hannaford; Arianna Menciassi; Marcia K. O'Malley; Nabil Simaan; Pietro Valdastri; Guang-Zhong Yang
Published in: Science Robotics, 6 (60), 2021, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abi8017

A Simulation Framework for Magnetic Continuum Robots

Author(s): Roland Dreyfus; Quentin Boehler; Bradley J. Nelson
Published in: IEEE Robotics and Automation Letters, Issue 1, 2022, ISSN 2377-3774
Publisher: IEEE
DOI: 10.3929/ethz-b-000555813

A Biodegradable Magnetic Microrobot Based on Gelatin Methacrylate for Precise Delivery of Stem Cells with Mass Production Capability

Author(s): Seungmin Noh; Sungwoong Jeon; Eunhee Kim; Untaek Oh; Danbi Park; Sun Hwa Park; Sung Won Kim; Salvador Pané; Bradley J. Nelson; Jin‐young Kim; Hongsoo Choi
Published in: Small, 18 (25), Issue 1, 2022, ISSN 1613-6829
Publisher: Wiley-VCH
DOI: 10.1002/smll.202107888

Conference proceedings (3)

Shape memory polymer variable stiffness magnetic catheters with hybrid stiffness control

Author(s): Michael Mattmann; Quentin Boehler; Xiang-Zhong Chen; Salvador Pane; Bradley J. Nelson
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 1, 2022, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981935

Fabrication and Locomotion of Flexible Nanoswimmers

Author(s): Bumjin Jang, Amanda Aho, Bradley J. Nelson, Salvador Pane
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6193-6198, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/IROS.2018.8594047

Modeling Electromagnetic Navigation Systems for Medical Applications using Random Forests and Artificial Neural Networks

Author(s): Ruoxi Yu, Samuel L. Charreyron, Quentin Boehler, Cameron Weibel, Christophe Chautems, Carmen C. Y. Poon, Bradley J. Nelson
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
Publisher: IEEE

Thesis and dissertations (2)

A Flexible Needle with Fluoroscopic Imaging and Magnetic Steering for Neurosurgical Applications

Author(s): Ayoung, Hong
Published in: 2018
Publisher: ETH Zurich
DOI: 10.3929/ethz-b-000329604

Programmable Soft Micromachines with Morphological Computation for Adaptive Locomotion

Author(s): Hen-Wei, Huang
Published in: 2018
Publisher: ETH Zurich
DOI: 10.3929/ethz-b-000269443

Intellectual Property Rights

Patent (1)

STEERABLE CATHETER WITH PORTIONS OF DIFFERENT STIFFNESS

Application/Publication number: 17 189490
Date: 2017-09-05