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000291427 1001_ $$aJeong, Moonkwang$$b0
000291427 245__ $$aA Convoy of Magnetic Millirobots Transports Endoscopic Instruments for Minimally-Invasive Surgery.
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000291427 520__ $$aSmall-scale robots offer significant potential in minimally invasive medical procedures. Due to the nature of soft biological tissues, however, robots are exposed to complex environments with various challenges in locomotion, which is essential to overcome for useful medical tasks. A single mini-robot often provides insufficient force on slippery biological surfaces to carry medical instruments, such as a fluid catheter or an electrical wire. Here, for the first time, a team of millirobots (TrainBot) is reported to generate around two times higher actuating force than a TrainBot unit by forming a convoy to collaboratively carry long and heavy cargos. The feet of each unit are optimized to increase the propulsive force around three times so that it can effectively crawl on slippery biological surfaces. A human-scale permanent magnetic set-up is developed to wirelessly actuate and control the TrainBot to transport heavy and lengthy loads through narrow biological lumens, such as the intestine and the bile duct. The first electrocauterization performed by the TrainBot is demonstrated to relieve a biliary obstruction and open a tunnel for fluid drainage and drug delivery. The developed technology sheds light on the collaborative strategy of small-scale robots for future minimally invasive surgical procedures.
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000291427 650_7 $$2Other$$acrawling motion
000291427 650_7 $$2Other$$adrug delivery
000291427 650_7 $$2Other$$aelectrocauterization
000291427 650_7 $$2Other$$aendoscopic surgery
000291427 650_7 $$2Other$$amagnetic actuation
000291427 650_7 $$2Other$$asmall‐scale robots
000291427 7001_ $$aTan, Xiangzhou$$b1
000291427 7001_ $$0P:(DE-He78)23614c215d68fbcb99efcc894450e698$$aFischer, Felix$$b2$$udkfz
000291427 7001_ $$0P:(DE-He78)c99a0ce5ed5704fed4d2fe95b71b161b$$aQiu, Tian$$b3$$eLast author$$udkfz
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