ArticleScience advances2025
Real-time color flow mapping of ultrasound microrobots.
Article in Science advances, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
11 citing papers in PubMed.
- Selective Class-Aware Refinement (SCAR) Method for Microrobot Detection in Ultrasound Images.Sensors (Basel, Switzerland) · 2026Article
- Micro/Nanorobots (MNRs) at the Intersection of Mechanobiology and Artificial Intelligence: An Emerging Frontier for Precision Nanomedicine.ACS nano medicine · 2026Review
- Magnetically actuated microrobots in urolithiasis: emerging frontiers in kidney stone diagnosis and management.Inflammopharmacology · 2026Review
- Task-Oriented Biomedical Microrobots: Access, Working Environment, Actuation, Body Design, Detection and Control.Micromachines · 2026Review
- Rapid Fabrication of Self-Propelled and Steerable Magnetic Microcatheters for Precision Medicine.Advanced materials (Deerfield Beach, Fla.) · 2026Article
- Ultrasound-guided closed-loop control of magnetic hydrogel microrobots with adaptive gait switching.Microsystems & nanoengineering · 2026Article
- Bandgap-enabled ultrasound tissue marking by a biodegradable metastructured hydrogel implant.Science advances · 2026Article
- Ultrasound-sensitive microrobotic sensor with robust anchoring for long-term digestive lesion assessment.National science review · 2026Article
- Autonomous Microrobots for Spatiotemporally Active Therapeutic Delivery and Controlled Release.Cyborg and bionic systems (Washington, D.C.) · 2026Review
- Active Propelled Micro Robots in Drug Delivery for Urologic Diseases.Micromachines · 2025Review
- Model-based reinforcement learning for ultrasound-driven autonomous microrobots.Nature machine intelligence · 2025Article
Corrections and comments
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Authors and funding
7 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Visualization and tracking of microrobots in real time pose key challenges for surgical microrobotic systems, as existing imaging modalities like magnetic resonance imaging, computed tomography, and x-ray are unable to monitor microscale items with real-time resolution. Ultrasound imaging-guided drug administration represents a remarkable advancement in this respect, offering real-time visual feedback on invasive medical procedures. However, ultrasound imaging still faces substantial inherent limitations in spatial resolution and signal attenuation, which hinder extending this method to microrobot visualization. Here, we introduce an approach for visualizing individual microrobots in real time with color flow mapping ultrasound imaging based on acoustically induced structural oscillations of the microrobot generating a pseudo-Doppler signal. This approach enables the simultaneous localization and activation of bubble-based microrobots using two ultrasound sources operating at distinct frequency bandwidths. Our successful capture of microrobots measuring 60 to 80 micrometers in diameter reveals the potential of real-time ultrasonic imaging at the microscale.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.