{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,10]],"date-time":"2026-10-10T10:49:57Z","timestamp":1791629397171,"version":"4.3.4"},"reference-count":63,"publisher":"Wiley","issue":"56","license":[{"start":{"date-parts":[[2026,8,11]],"date-time":"2026-08-11T00:00:00Z","timestamp":1786406400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,8,11]],"date-time":"2026-08-11T00:00:00Z","timestamp":1786406400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["#866494"],"award-info":[{"award-number":["#866494"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Small"],"published-print":{"date-parts":[[2026,10]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>Magnetic microrobotics holds promise for minimally invasive biomedical applications, yet imaging in this field still relies predominantly on external modalities. Endoscopic imaging offers an alternative route for in situ visualization and micro\u2010agent guidance, but its use in microrobotics has so far remained limited to standard endoscopic modalities. This study demonstrates two\u2010photon endomicroscopy (TPE) for real\u2010time fluorescence imaging of magnetically actuated micro\u2010agents. Dynamic experiments under rotating magnetic fields support motion analysis across multiple actuation frequencies. In addition, dual\u2010color imaging enables analysis of mixed magnetic and non\u2010magnetic micro\u2010agent populations labeled with distinct fluorescent dyes. Imaging through biological tissue shows that magnetic micro\u2010agents remain detectable through a 140  rat mammary gland tissue layer. The feasibility of image\u2010guided re\u2010centering of a HeLa cell spheroid within the TPE field of view is also shown, compensating for displacement induced by the magnetic micro\u2010agents. These results extend TPE from passive observation to active image\u2010guided functionality in microrobotic\u00a0systems.<\/jats:p>","DOI":"10.1002\/smll.75051","type":"journal-article","created":{"date-parts":[[2026,8,11]],"date-time":"2026-08-11T08:43:21Z","timestamp":1786437801000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Two\u2010Photon Endomicroscopy for Image\u2010Guided Magnetic Micro\u2010Agents"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7154-7893","authenticated-orcid":false,"given":"Juan J.","family":"Huaroto","sequence":"first","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente  Enschede The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gert\u2010willem","family":"R\u00f6mer","sequence":"additional","affiliation":[{"name":"Chair of Laser Processing Department of Mechanics of Solids Surfaces &amp; Systems (MS3) University of Twente  Enschede The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ivo M.","family":"Vellekoop","sequence":"additional","affiliation":[{"name":"Biomedical Photonic Imaging Group Faculty of Science and Technology University of Twente  Enschede The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4961-0144","authenticated-orcid":false,"given":"Sarthak","family":"Misra","sequence":"additional","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente  Enschede The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,8,11]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaq1155"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1088\/2516-1091\/ab22d5"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/smll.202208259"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.5c03911"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.0c01705"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/smll.202301889"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-020-19322-7"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-36215-7"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1038\/545406a"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000267"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi13030481"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000256"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.0c05530"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1021\/acs.chemrev.0c01234"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.matdes.2023.111735"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd2813"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-bioeng-081523-033131"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1002\/smll.202401369"},{"key":"e_1_2_8_20_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.adx1708"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abq8545"},{"key":"e_1_2_8_22_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.7b07220"},{"key":"e_1_2_8_23_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc8191"},{"key":"e_1_2_8_24_1","doi-asserted-by":"publisher","DOI":"10.1002\/smll.201900709"},{"key":"e_1_2_8_25_1","doi-asserted-by":"publisher","DOI":"10.1063\/5.0097145"},{"key":"e_1_2_8_26_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abm9132"},{"key":"e_1_2_8_27_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908100924"},{"key":"e_1_2_8_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2019.2960530"},{"key":"e_1_2_8_29_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-021-93323-4"},{"key":"e_1_2_8_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3004323"},{"key":"e_1_2_8_31_1","doi-asserted-by":"publisher","DOI":"10.1038\/s44287-024-00102-0"},{"key":"e_1_2_8_32_1","doi-asserted-by":"publisher","DOI":"10.3390\/s21041217"},{"key":"e_1_2_8_33_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11307-022-01741-1"},{"key":"e_1_2_8_34_1","doi-asserted-by":"publisher","DOI":"10.1364\/OL.484841"},{"key":"e_1_2_8_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TUFFC.2023.3255843"},{"key":"e_1_2_8_36_1","doi-asserted-by":"publisher","DOI":"10.1063\/5.0008401"},{"key":"e_1_2_8_37_1","doi-asserted-by":"publisher","DOI":"10.1038\/nmeth818"},{"key":"e_1_2_8_38_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.1308059"},{"key":"e_1_2_8_39_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41566-024-01391-5"},{"key":"e_1_2_8_40_1","doi-asserted-by":"publisher","DOI":"10.1364\/OPTICA.422657"},{"key":"e_1_2_8_41_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11307-021-01665-2"},{"key":"e_1_2_8_42_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsphotonics.2c01493"},{"key":"e_1_2_8_43_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-41557-3"},{"key":"e_1_2_8_44_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0289725"},{"key":"e_1_2_8_45_1","doi-asserted-by":"publisher","DOI":"10.5772\/intechopen.106198"},{"key":"e_1_2_8_46_1","doi-asserted-by":"publisher","DOI":"10.1364\/BOE.6.000032"},{"key":"e_1_2_8_47_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10103-014-1545-0"},{"key":"e_1_2_8_48_1","doi-asserted-by":"publisher","DOI":"10.1364\/OE.17.007907"},{"key":"e_1_2_8_49_1","doi-asserted-by":"publisher","DOI":"10.1364\/OL.36.001299"},{"key":"e_1_2_8_50_1","doi-asserted-by":"publisher","DOI":"10.1364\/BOE.520729"},{"key":"e_1_2_8_51_1","doi-asserted-by":"publisher","DOI":"10.1364\/OL.560869"},{"key":"e_1_2_8_52_1","doi-asserted-by":"publisher","DOI":"10.5455\/aim.2011.19.168-171"},{"key":"e_1_2_8_53_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-017-0071"},{"key":"e_1_2_8_54_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-018-04576-z"},{"key":"e_1_2_8_55_1","doi-asserted-by":"publisher","DOI":"10.34133\/2021\/9823268"},{"key":"e_1_2_8_56_1","doi-asserted-by":"publisher","DOI":"10.1039\/D1NR05670K"},{"key":"e_1_2_8_57_1","doi-asserted-by":"publisher","DOI":"10.1053\/j.gastro.2010.01.009"},{"key":"e_1_2_8_58_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-011-0426-y"},{"key":"e_1_2_8_59_1","doi-asserted-by":"publisher","DOI":"10.1364\/BOE.8.002405"},{"key":"e_1_2_8_60_1","doi-asserted-by":"publisher","DOI":"10.1002\/jbio.202000217"},{"key":"e_1_2_8_61_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax0613"},{"key":"e_1_2_8_62_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adp3593"},{"key":"e_1_2_8_63_1","unstructured":"J.\u2010Y.Bouguet \u201cPyramidal Implementation of the Affine Lucas\u2010Kanade Feature Tracker: Description of the Algorithm \u201dIntel Corporation Microprocessor Research Labs Technical Report(2001)."},{"key":"e_1_2_8_64_1","doi-asserted-by":"crossref","unstructured":"J.ShiandC.Tomasi \u201cGood Features to Track \u201d inProceedings of the 1994 IEEE Conference on Computer Vision and Pattern Recognition(IEEE 1994):593\u2013600.","DOI":"10.1109\/CVPR.1994.323794"}],"container-title":["Small"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/smll.75051","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/smll.75051","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/smll.75051","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,10,10]],"date-time":"2026-10-10T10:16:47Z","timestamp":1791627407000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/smll.75051"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,8,11]]},"references-count":63,"journal-issue":{"issue":"56","published-print":{"date-parts":[[2026,10]]}},"alternative-id":["10.1002\/smll.75051"],"URL":"https:\/\/doi.org\/10.1002\/smll.75051","archive":["Portico"],"relation":{},"ISSN":["1613-6810","1613-6829"],"issn-type":[{"value":"1613-6810","type":"print"},{"value":"1613-6829","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,8,11]]},"assertion":[{"value":"2026-03-29","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-07-24","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-08-11","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e75051"}}