{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T18:10:05Z","timestamp":1759860605117,"version":"build-2065373602"},"reference-count":55,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2023,11,5]],"date-time":"2023-11-05T00:00:00Z","timestamp":1699142400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100007567","name":"City University of Hong Kong","doi-asserted-by":"publisher","award":["9610539"],"award-info":[{"award-number":["9610539"]}],"id":[{"id":"10.13039\/100007567","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>Untethered magnetic millirobots with a characteristic length of a few millimeters can be wirelessly controlled. They exhibit promising potential in a wide variety of applications, particularly for tasks in clinic workspaces. However, magnetically controlling these robots is counter\u2010intuitive and requires a steep learning curve, hindering their wide adoption. Herein, a computer\u2010aided teleoperation platform is developed to operate a soft millirobot, with its feedback control being conducted behind\u2010the\u2010scenes, bridging the user's inputs directly with the millirobot's actions to offer an intuitive control. This system enables untrained users to conveniently control the position and actions of the millirobot inside a human stomach phantom by pointing\u2010and\u2010clicking on a real\u2010time video monitor or using a keyboard. The platform automatically materializes the user's instructions by maneuvering a robotic arm with a tip\u2010mounted magnet to exert a magnetic field to induce the desired response from the millirobot. Experiments show that the system allows the user to intuitively operate the millirobot and deliver its cargo without splitting their attention to monitor the workspace or to calculate the constantly changing control parameters. This platform can lower the barrier for healthcare practitioners without engineering expertise to adopt miniature robotic systems into their workflow and realize these systems\u2019 promising potential.<\/jats:p>","DOI":"10.1002\/aisy.202300325","type":"journal-article","created":{"date-parts":[[2023,11,5]],"date-time":"2023-11-05T23:16:46Z","timestamp":1699226206000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Computer\u2010Aided Teleoperation System for Intuitively Controlling the Behavior of a Magnetic Millirobot within a Stomach Phantom"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4700-4469","authenticated-orcid":false,"given":"Ruomao","family":"Liu","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Hong Kong SAR 000000 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4705-5634","authenticated-orcid":false,"given":"Yuxuan","family":"Xiang","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Hong Kong SAR 000000 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1761-3332","authenticated-orcid":false,"given":"Zihan","family":"Wei","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Hong Kong SAR 000000 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6488-6686","authenticated-orcid":false,"given":"Jiachen","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Hong Kong SAR 000000 China"}]}],"member":"311","published-online":{"date-parts":[[2023,11,5]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2014.2385105"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1586\/17434440.2015.1080120"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-bioeng-010510-103409"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1920099117"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/admi.201800425"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2018.04.023"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1039\/C4LC01266F"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1917952117"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1038\/nnano.2016.187"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201704902"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41567-018-0227-4"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.3122346"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1002\/smll.200900021"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1021\/ja203773g"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abn8932"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat8829"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi11040404"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abm7834"},{"key":"e_1_2_8_20_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2021.736730"},{"key":"e_1_2_8_21_1","unstructured":"A.Kortschack O. C.H\u00e4n\u00dfler C.Rass S.Fatikow inProc. 2003 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2003) (Cat. No. 03CH37453) IEEE Las Vegas NV2003."},{"key":"e_1_2_8_22_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-022-32059-9"},{"key":"e_1_2_8_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mtbio.2020.100085"},{"key":"e_1_2_8_24_1","first-page":"513","volume":"61","author":"Yim S.","year":"2013","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"e_1_2_8_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3043454"},{"key":"e_1_2_8_26_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0171"},{"key":"e_1_2_8_27_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00542-016-2948-6"},{"key":"e_1_2_8_28_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201906766"},{"key":"e_1_2_8_29_1","doi-asserted-by":"publisher","DOI":"10.1163\/016918611X568620"},{"key":"e_1_2_8_30_1","unstructured":"D.Ye F.Zhang S.Yuan S.Song M. Q. H.Meng in2019 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO) IEEE Dali China2019."},{"key":"e_1_2_8_31_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi10060370"},{"key":"e_1_2_8_32_1","unstructured":"X.Du L.Yang J.Yu K. F.Chan P. W. Y.Chiu L.Zhang in2020 5th Int. Conf. on Advanced Robotics and Mechatronics (ICARM) IEEE Shenzhen China2020."},{"key":"e_1_2_8_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2163861"},{"key":"e_1_2_8_34_1","unstructured":"P.Ryan E.Diller in2016 IEEE Int. Conf. on Robotics and Automation (ICRA) IEEE Stockholm Sweden2016."},{"key":"e_1_2_8_35_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abi8932"},{"key":"e_1_2_8_36_1","doi-asserted-by":"publisher","DOI":"10.1002\/mp.12299"},{"key":"e_1_2_8_37_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-018-06491-9"},{"key":"e_1_2_8_38_1","unstructured":"K. M.Popek T.Hermans J. J.Abbott in2017 IEEE Int. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2017."},{"key":"e_1_2_8_39_1","unstructured":"L. N.Pham J. J.Abbott in2018 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2018."},{"key":"e_1_2_8_40_1","unstructured":"A. W.Mahoney S. E.Wright J. J.Abbott in2013 IEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ2013."},{"key":"e_1_2_8_41_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.3079655"},{"key":"e_1_2_8_42_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000082"},{"key":"e_1_2_8_43_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abf0112"},{"key":"e_1_2_8_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972857"},{"key":"e_1_2_8_45_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909341658"},{"key":"e_1_2_8_46_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmmm.2015.07.100"},{"key":"e_1_2_8_47_1","doi-asserted-by":"publisher","DOI":"10.1136\/pgmj.2007.057190"},{"key":"e_1_2_8_48_1","doi-asserted-by":"publisher","DOI":"10.1055\/a-1314-9860"},{"key":"e_1_2_8_49_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-020-00231-9"},{"key":"e_1_2_8_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2289019"},{"key":"e_1_2_8_51_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2004.828648"},{"key":"e_1_2_8_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.892232"},{"key":"e_1_2_8_53_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ssci.2020.104667"},{"volume-title":"Climbing and Walking Robots: Towards New Applications","year":"2007","author":"Ylikorpi T.","key":"e_1_2_8_54_1"},{"key":"e_1_2_8_55_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2528301"},{"key":"e_1_2_8_56_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aau2277"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202300325","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T17:28:19Z","timestamp":1759858099000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202300325"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,11,5]]},"references-count":55,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2024,2]]}},"alternative-id":["10.1002\/aisy.202300325"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202300325","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"type":"print","value":"2640-4567"},{"type":"electronic","value":"2640-4567"}],"subject":[],"published":{"date-parts":[[2023,11,5]]},"assertion":[{"value":"2023-06-12","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-11-05","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2300325"}}