Fig. 1: Magnetic tentacles platform description.
From: Personalized magnetic tentacles for targeted photothermal cancer therapy in peripheral lungs
a Overview of magnetic tentacle delivery bronchoscope and actuation system comprised of two robotic arms, each controlling the pose of an external permanent magnet (EPM). b Magnetic tentacle deployment and laser delivery to a targeted tumor. c Illustration of the tentacle delivery system and sensing. d Schematic of the magnetic tentacle showing the integrated shape sensing Fiber Bragg Grating (FBG) and laser fiber.
