Ali Kafash Hoshiar

Abstract Magnetic manipulation is increasingly used in medical applications for its potential in remote control. However, precise magnetic field generation in large workspaces remains challenging. This paper introduces an adaptive robotic end effector, the tunable magnetic end effector (TME), capable of generating spatially controllable magnetic fields. By integrating permanent magnets, the TME enables accurate magnetic control for wireless manipulation of miniaturized medical devices.

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Introduction Over the past few years, untethered microrobots have found diverse applications in biopsy,1,2 treatment of hyperthermia,3 cell culture,4,5 targeted drug delivery,6–8 tissue scaffolding,9 sensing,10 tissue marking,11 and microsurgery.12–14 More recently, soft micromanipulators have been used for targeted drug delivery.15 The soft deformable structures of such microrobots render them well suited to perform biomedical operations within vascular networks.