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However, there are still many challenges in translating this method into clinical practice, both in terms of localization and wireless motion control. Herein, closed\u2010loop control characterization of the USHD against and along physiological fluid inside a blood vessel phantom at different penetration depths is shown. First the dynamic flow and ultrasound images noise affecting the measurement are modeled, and control system of the USHD based on bifurcation analysis of a 1D hydrodynamic model is designed. Then a region of attraction of a USHD driven by a permanent magnet robotic (PMR) system inside a blood vessel phantom around an equilibrium point is constructed. Further, the point\u2010to\u2010point closed\u2010loop control strategy is implemented based on the magnetic point\u2010dipole approximation and kinematic control of the PMR system and ultrasound feedback inside physiological fluid, blood vessel, and soft tissue. The frequency response of the USHD is characterized against and along the flowing streams of fetal bovine serum within different flow rates in the 6\u201320\u2009mm\u2009s<jats:sup>\u22121<\/jats:sup> range. The experimental results demonstrate the ability to navigate the USHD inside blood vessel phantoms with maximum position error of \u2009mm.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200322","type":"journal-article","created":{"date-parts":[[2023,1,20]],"date-time":"2023-01-20T22:49:52Z","timestamp":1674254992000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Closed\u2010Loop Control Characterization of Untethered Small\u2010Scale Helical Device in Physiological Fluid with Dynamic Flow Rates"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2728-6507","authenticated-orcid":false,"given":"Chuang","family":"Li","sequence":"first","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomedical Engineering University of Groningen and University Medical Center Groningen  9713 GZ Groningen The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sarthak","family":"Misra","sequence":"additional","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomedical Engineering University of Groningen and University Medical Center Groningen  9713 GZ Groningen The Netherlands"},{"name":"Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente  Enschede 7522 NB The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Islam S. 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