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@ARTICLE{Jeong:291427,
      author       = {M. Jeong and X. Tan and F. Fischer$^*$ and T. Qiu$^*$},
      title        = {{A} {C}onvoy of {M}agnetic {M}illirobots {T}ransports
                      {E}ndoscopic {I}nstruments for {M}inimally-{I}nvasive
                      {S}urgery.},
      journal      = {Advanced science},
      volume       = {11},
      number       = {35},
      issn         = {2198-3844},
      address      = {Weinheim},
      publisher    = {Wiley-VCH},
      reportid     = {DKFZ-2024-01401},
      pages        = {e2308382},
      year         = {2024},
      note         = {#LA:E300# / 2024 Sep;11(35):e2308382},
      abstract     = {Small-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.},
      keywords     = {crawling motion (Other) / drug delivery (Other) /
                      electrocauterization (Other) / endoscopic surgery (Other) /
                      magnetic actuation (Other) / small‐scale robots (Other)},
      cin          = {E300},
      ddc          = {624},
      cid          = {I:(DE-He78)E300-20160331},
      pnm          = {315 - Bildgebung und Radioonkologie (POF4-315)},
      pid          = {G:(DE-HGF)POF4-315},
      typ          = {PUB:(DE-HGF)16},
      pubmed       = {pmid:38946679},
      doi          = {10.1002/advs.202308382},
      url          = {https://inrepo02.dkfz.de/record/291427},
}