Fig. 4: Robotic system integrated with MicroSyn-X-trained models.
From: Synthetic X‑ray‑driven tracking and control of miniature medical devices
a, The X-ray-guided robotic actuation system. b, A schematic of the supervised autonomous robotic navigation system. c, The auction principle of the soft MMD utilizing magnetic torque and force. Using a rotating 30-mm N45 cubic magnet, the magnetic torque and force range from 2.0 μNm to 13.2 μNm and from 0.1 mN to 0.4 mN, respectively. Soft MMD dimensions were 1.5 mm in diameter and 5.0 mm in length. The axes x, y and z define the coordinate system. Fmag,y and Tmag,y denote the magnetic force and torque along the y-directon, respectively, while vmag and ωmag represent the magnet’s translational velocity and rotational speed. d, Real-time soft MMD tracking under high-occlusion, noisy and low-contrast imaging conditions. The localization success ratio (LSR), defined as the ratio of successfully localized frames to total video frames, is displayed alongside. The top row illustrates zoomed-in MMD views, while the bottom row shows segmentation results with confidence scores. e, Robotic navigation and real-time tracking within tortuous lumen networks under bone occlusion conditions. f, The magnetic gradient-driven translation of a ferrofluidic MMD. The red arrow represents the polarization direction of the magnetic field. Using a 20-mm N45 cubic magnet, the magnetic gradient along the desired motion direction ranges from 0.06 to 0.12 T m−1. The liquid MMD volume is 40–60 μl. g, Real-time liquid MMD tracking beneath bone structures up to 25 mm in thickness. h, Liquid MMD tracking in environments with abrupt spatial variations under bones in real time. The MMD morphology dynamically adapts to structural boundaries, such as the narrow-channel segment ‘I’ of the MPI configuration, enabling navigation through confined pathways. i, The liquid MMD separation and recombination via magnetic field modulation. j, The real-time tracking of liquid MMD swarms and recombination dynamics under bone occlusion. Scale bars represent 10 mm. The mean MMD translation speed and locomotion distance are denoted by \({v}_{{\rm{r}}}\) and \({l}_{{\rm{r}}}\), respectively.
