Sinan Ozgun Demir

Abstract The clinical translation of miniature medical devices (MMDs) for minimally invasive surgery promises transformative advances in biomedical engineering, offering enhanced precision, reduced patient trauma and faster recovery times. However, their effective deployment in complex anatomies under real-time X-ray guidance—a widely used surgical imaging modality—presents challenges such as low imaging quality and difficulties of spatial MMD control.

1 Introduction With wireless external actuation and diverse shape programming capabilities, magnetic soft millirobots have become promising as bioinspired soft-bodied locomotion study platforms[1-3] and potential medical devices for minimally invasive operations.[4, 5] Among the existing external actuation methods, such as heat,[6] light,[6, 7] electric,[8] and magnetic field,[6, 9] magnetic actuation stands out due to its high precision, dexterity, speed, penetration depth, and biological...

Preparation of Chicken Embryo Vascular Model Fertilized White Leghorn chicken eggs (SPF Eggs, VALO BioMedia, Osterholz-Scharmbeck, Germany) were placed in a commercial incubator (Pro PX 20, RCOM Incubators, KS, USA) and were frequently turned to prevent the embryo from sticking to its membranes. The incubation period for these eggs was 14 days, at which point the embryos were euthanized.