Extended Data Fig. 5: Actuation regions of soft and liquid MMDs.
From: Synthetic X‑ray‑driven tracking and control of miniature medical devices
a. Actuation of the soft MMD inside a lumen, driven by magnetic torque and force. b. Actuation region of the soft MMD in the plane of \({x}_{{\rm{r}}}=0\). When the rotating permanent magnet (PM) is positioned within this region, the magnetic torque and force exceed the thresholds to enable MMD motion. c. Three-dimensional actuation region of the soft MMD, considering geometric constraints to prevent potential collisions. d. Actuation of the soft MMD on a substrate, where motion is achieved by utilizing the magnetic field gradient. e. Actuation region of the liquid MMD in the plane of \({x}_{{\rm{r}}}=0\). When the PM is located within this region, the magnetic field gradient along the desired direction exceeds the threshold to induce MMD movement. f. Three-dimensional actuation region of the liquid MMD. A larger PM can be employed to expand the actuation region.
