{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T01:12:42Z","timestamp":1773018762452,"version":"3.50.1"},"reference-count":36,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2023,7,27]],"date-time":"2023-07-27T00:00:00Z","timestamp":1690416000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/R045291\/1"],"award-info":[{"award-number":["EP\/R045291\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/V009818\/1"],"award-info":[{"award-number":["EP\/V009818\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100019180","name":"HORIZON EUROPE European Research Council","doi-asserted-by":"publisher","award":["No 818045"],"award-info":[{"award-number":["No 818045"]}],"id":[{"id":"10.13039\/100019180","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2024,2]]},"abstract":"<jats:p>Soft magnetic manipulators offer the prospect of improved surgical outcomes through their potential for miniaturization and inherently safe tissue interaction. However, independent actuation of multiple manipulators within the same confined workspace is limited by undesired simultaneous actuation and manipulator\u2013manipulator interactions. Herein, for the first time, approaches for the independent magnetic actuation of two magnetic continuum manipulators within the same confined workspace are proposed. A novel modular magnetic soft robot segment design is proposed with modified geometry to provide preferential bending planes and high angles of deflection. This design is integrated into two dual\u2010segment magnetic manipulators which, when arranged in parallel, can deliver independent bending in two planes of motion. Two distinct independent control strategies are proposed, based on orthogonal manipulator magnetization profiles and local field gradient control, respectively. Each dual\u2010manipulator configuration is characterized over a sequence of applied magnetic fields and gradients, induced via a dual robotically controlled external permanent magnet system. Manipulator independence, bending range of motion, and twisting behaviors are evaluated as a function of control strategy and manipulator separation distance. To demonstrate the system's potential in clinical scenarios, a dual\u2010manipulator configuration is adapted to carry an endoscopic camera and optic fiber, respectively. The resultant bimanual system is deployed in the confined anatomy of a skull\u2010base phantom to simulate minimally invasive ablation of a pituitary adenoma. Independent motion of the camera and tool within the confined workspace demonstrate the potential for an independent magnetic tool manipulation for surgical applications.<\/jats:p>","DOI":"10.1002\/aisy.202300062","type":"journal-article","created":{"date-parts":[[2023,7,27]],"date-time":"2023-07-27T04:06:20Z","timestamp":1690430780000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Independently Actuated Soft Magnetic Manipulators for Bimanual Operations in Confined Anatomical Cavities"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1457-0923","authenticated-orcid":false,"given":"Zaneta","family":"Koszowska","sequence":"first","affiliation":[{"name":"Storm Lab UK School of Electronic and Electrical Engineering University of Leeds  Leeds LS2 9JT UK"}]},{"given":"Michael","family":"Brockdorff","sequence":"additional","affiliation":[{"name":"Storm Lab UK School of Electronic and Electrical Engineering University of Leeds  Leeds LS2 9JT UK"}]},{"given":"Tomas","family":"da Veiga","sequence":"additional","affiliation":[{"name":"Storm Lab UK School of Electronic and Electrical Engineering University of Leeds  Leeds LS2 9JT UK"}]},{"given":"Giovanni","family":"Pittiglio","sequence":"additional","affiliation":[{"name":"Department of Cardiovascular Surgery Boston Children's Hospital Harvard Medical School  Boston MA 02115 USA"}]},{"given":"Peter","family":"Lloyd","sequence":"additional","affiliation":[{"name":"Storm Lab UK School of Electronic and Electrical Engineering University of Leeds  Leeds LS2 9JT UK"}]},{"given":"Thomas","family":"Khan-White","sequence":"additional","affiliation":[{"name":"School of Medicine Leeds Institute of Medical Research at St James's Faculty of Medicine and Health University of Leeds  Leeds LS9 7TF UK"}]},{"given":"Russell A.","family":"Harris","sequence":"additional","affiliation":[{"name":"Future Manufacturing Processes Research Group University of Leeds  Leeds LS2 9JT UK"}]},{"given":"James W.","family":"Moor","sequence":"additional","affiliation":[{"name":"ENT Department Leeds Teaching Hospitals NHS Trust  Leeds LS1 3EX UK"}]},{"given":"James H.","family":"Chandler","sequence":"additional","affiliation":[{"name":"Storm Lab UK School of Electronic and Electrical Engineering University of Leeds  Leeds LS2 9JT UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2280-5438","authenticated-orcid":false,"given":"Pietro","family":"Valdastri","sequence":"additional","affiliation":[{"name":"Storm Lab UK School of Electronic and Electrical Engineering University of Leeds  Leeds LS2 9JT UK"}]}],"member":"311","published-online":{"date-parts":[[2023,7,27]]},"reference":[{"key":"e_1_2_7_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abi8017"},{"key":"e_1_2_7_3_1","doi-asserted-by":"publisher","DOI":"10.1088\/2516-1091\/ab9f41"},{"key":"e_1_2_7_4_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915584806"},{"key":"e_1_2_7_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_15"},{"key":"e_1_2_7_6_1","doi-asserted-by":"publisher","DOI":"10.1227\/NEU.0000000000000623"},{"key":"e_1_2_7_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908104278"},{"key":"e_1_2_7_8_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0136"},{"key":"e_1_2_7_9_1","first-page":"1","volume":"1","author":"McCandless M.","year":"2021","journal-title":"Soft Robot."},{"key":"e_1_2_7_10_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2019.00012"},{"key":"e_1_2_7_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3013900"},{"key":"e_1_2_7_12_1","unstructured":"T.Da Veiga J. 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