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The\u00a0hemispherical magnet array with magnetic focusing is described and its array parameters are optimized through finite element analysis to increase the magnetic field for actuation. The magnetic field strength at 100\u2009mm for the array with the same mass as the cylindrical magnet is about 1.8 times higher than that of the cylindrical magnet. Using the magnet array actuation, the flexible robot exhibits the capability of agile steering to navigate along a predefined trajectory. In addition, a 1\u2009mm\u2009\u00d7\u20091\u2009mm lead zirconate titanate (PZT) patch is embedded into the tip of the flexible robot as a beacon for b\u2010TFM ultrasonic imaging to detect the position of the robot. Therefore, the entire navigation process can be executed under the supervision of the ultrasonic position sensing system, and the maximum error is 0.8\u2009mm when the steering radius is 100\u2009mm.<\/jats:p>","DOI":"10.1002\/aisy.202300641","type":"journal-article","created":{"date-parts":[[2024,1,3]],"date-time":"2024-01-03T00:07:25Z","timestamp":1704240445000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["A Flexible Surgical Robot with Hemispherical Magnet Array Steering and Embedded Piezoelectric Beacon for Ultrasonic Position Sensing"],"prefix":"10.1002","volume":"6","author":[{"given":"Feng","family":"Ju","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]},{"given":"Xinfeng","family":"Gu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]},{"given":"Bai","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]},{"given":"Xiaoyu","family":"Sun","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering University of Bristol  Bristol BS8 1TR UK"}]},{"given":"Zhiyuan","family":"Shen","sequence":"additional","affiliation":[{"name":"School of Biological Sciences University of Bristol  Bristol BS8 1TR UK"}]},{"given":"Bruce W.","family":"Drinkwater","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering University of Bristol  Bristol BS8 1TR UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6157-1013","authenticated-orcid":false,"given":"Liping","family":"Ding","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"}]}],"member":"311","published-online":{"date-parts":[[2024,1,2]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2022.3180350"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2229278"},{"key":"e_1_2_10_4_1","first-page":"1","volume":"7","author":"Audette M. 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