ArticleFrontiers in medical technology2026
Low-Load endoluminal navigation with a magnetically actuated medical soft microrobot.
Article in Frontiers in medical technology, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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5 authors.
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Abstract
Minimally invasive endoluminal interventions increasingly rely on magnetic actuation to navigate narrow lumens while limiting wall loads. Here we present a contact-aware control framework for steering a deformable, silicone-based soft microrobot with embedded magnetic particles using an externally positioned permanent magnet. We develop a dynamic model capturing viscous drag, nonlinear frictional loads, and viscoelastic wall contact, and implement a closed-loop architecture that combines vision-based state estimation with model-based force inference while optimizing magnet orientation to regulate the force vector and normal reaction. Performance is evaluated in simulation and on a benchtop testbed across three control modes. In the nominal-case benchmark, force-plus-angle control reduced the root-mean-square tracking error from 4.8 to 2.1 mm (-56%), decreased peak tracking error from 14.6 to 8.0 mm (-45%), lowered the integrated performance index from 4.4 × 10
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