3D Navigation of a Magnetic Swimmer Using a 2D Ultrasonography Probe Manipulated by a Robotic Arm for Position Feedback

Premal Gorroochurn*, Charles P Hong*, Carter M Klebuc*, Yitong Lu*, Khue Phan, Javier Garcia, Aaron T Becker, Julien Leclerc

IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 8173-8179

Open-Source CFD Simulation of Magnetic Rotating Swimmers with Experimental Validation

Yitong Lu, Jocelyn Ramos, Deeksha Sarda, Dipan J Shah, Aaron T Becker, Julien Leclerc

IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, pp. 3779-3784

Insertion, retrieval and performance study of miniature magnetic rotating swimmers for the treatment of thrombi

Yitong Lu, Jocelyn Ramos, Mohamad G Ghosn, Dipan J Shah, Aaron T Becker, Julien Leclerc

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, pp. 8454-8460

Data-driven control for a milli-scale spiral-type magnetic swimmer using mpc

Haoran Zhao, Yitong Lu, Aaron T Becker, Julien Leclerc

International Conference on Robotics and Automation (ICRA), 2022, pp. 9823-9830

High-Torque Miniature Magnetic Rotating Swimmers for 3D Path-Following and Blood Clot Disruption

Jocelyn Ramos, Yitong Lu, Aaron T. Becker, Julien Leclerc

International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2022

Steering rotating magnetic swimmers in 2.5 dimensions using only 2d ultrasonography for position sensing

Yitong Lu, Haoran Zhao, Aaron T Becker, Julien Leclerc

IEEE Robotics and Automation Letters, vol. 7(2), 2022, pp. 3162 - 3169

Resonating magnetic manipulation for 3d path-following and blood clot removal using a rotating swimmer

Julien Leclerc, Yitong Lu, Aaron T Becker, Mohamad Ghosn, Dipan J Shah

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3083-3090