Navigating through peripheral lung branches is a significant challenge for diagnosing lesions during bronchoscopy. We develop real-time autonomous navigation platforms for soft bronchoscopy robots that adapt to anatomical motion and uncertainty.
Miniature Magnetic Rotating Swimmers (MMRSs)
MMRSs are untethered machines containing magnetic materials. A rotating magnetic field applies torque on the swimmer and makes it rotate. The shape of the swimmer, combined with the rotational movement, generates a propulsive force.
Magnetically Controlled Reconfigurable Modular Robots
Reconfigurable modular robots, which can actively assemble and disassemble on command, offer the possibility of mesoscale (milliscale and microscale) manufacturing with robustness and controllability.
Gathering Microparticles using Reinforcement Learning for Targeted Drug Delivery
Delivering active substances to specific locations within an organism is a crucial challenge. We demonstrate how to use a time-varying magnetic field to gather microparticles to a desired location using reinforcement learning.