A Real-Time, Semi-Autonomous Navigation Platform for Soft Robotic Bronchoscopy

Daniel Van Lewen, Yitong Lu, Frank Juliá-Wise, Armaan Vasowalla, Christopher Wu, Jennifer Yeo, Ehab Billatos, Sheila Russo

IEEE Robotics and Automation Letters, vol. 10(5), 2025, pp. 4722 - 4729

Enabling Real-Time Shape Sensing in Soft Robots via a Miniaturized, Single-Signal, Color-Tuned Soft Optical Sensor

Frank Juliá Wise, Yitong Lu, Daniel Van Lewen, Riley Applebaum, Bianca Andrada, Johnathan Reamer, Sheila Russo

Advanced Robotics Research, 2025

Soft Optical Shape-Sensing with Thin-Film Color Tuning for Autonomous Soft Robotic Bronchoscopy Navigation

Frank Julia Wise, Yitong Lu, Sheila Russo

Hamlyn Symposium on Medical Robotics, 2025

Wireless mechanical and hybrid thrombus fragmentation of ex vivo endovascular thrombosis model in the iliac artery

Marcus CJ de Boer, Leendert-Jan W Ligtenberg, Iris Mulder, Constantinos Goulas, Anke Klingner, Roger Lomme, Emily AM Rot, Dorothee Wasserberg, Yitong Lu, Remco Liefers, Joep K van der Mijle Meijer, Gabriëlle JM Tuijthof, Doron Ben Ami, Udi Sadeh, Oded Shoseyov, Julien Leclerc, Aaron T Becker, Pascal Jonkheijm, Michiel Warlé, Islam SM Khalil

Applied Physics Reviews, vol. 12(1), 2025

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

Closed-loop control of magnetic modular cubes for 2D self-assembly

Yitong Lu, Anuruddha Bhattacharjee, Conlan C Taylor, Julien Leclerc, Jason M O'Kane, MinJun Kim, Aaron T Becker

IEEE Robotics and Automation Letters, vol. 8(9), 2023, pp. 5998-6005

Coordinated Self-Assembly and Feedback Control of Distributed Magnetic Cuboid Robots

Louis William Rogowski*, Gokhan Kararsiz*, Anuruddha Bhattacharjee*, Yitong Lu*, Zhengguang Wang, Xiao Zhang, Aaron T Becker, Min Jun Kim

Swarm Intelligence, 2023

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

Gathering physical particles with a global magnetic field using reinforcement learning

Matthias Konitzny, Yitong Lu, Julien Leclerc, Sándor P Fekete, Aaron T Becker

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 10126-10132

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

Magnetically controlled modular cubes with reconfigurable self-assembly and disassembly

Anuruddha Bhattacharjee*, Yitong Lu*, Aaron T Becker, MinJun Kim

IEEE transactions on robotics, vol. 38(3), 2022, pp. 1793-1805

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

Enumeration of polyominoes & polycubes composed of magnetic cubes

Yitong Lu, Anuruddha Bhattacharjee, Daniel Biediger, MinJun Kim, Aaron T Becker

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 6977-6982

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