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Soft Micro Robotics

Publications

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

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

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

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

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

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 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

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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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

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

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

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