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Magnetic resonance navigation, using magnetic field gradients in clinical magnetic resonance imaging (MRI), is combined with the algorithm to improve the targeting efficiency of magnetic microrobots (MMRs). Using a dedicated microparticle injector, a high-precision MRI-compatible balloon inflation system, and a clinical MRI, MMRs were successfully steered into targeted lobes via the hepatic arteries of living pigs. The distribution ratio of the microrobots (roughly 2000 MMRs per pig) in the right liver lobe increased from 47.7 to 86.4% and increased in the left lobe from 52.2 to 84.1%. After passing through multiple vascular bifurcations, the number of MMRs reaching four different target liver lobes had a 1.7- to 2.6-fold increase in the navigation groups compared with the control group. Performing simulations on 19 patients with hepatocellular carcinoma (HCC) demonstrated that the proposed technique can meet the need for hepatic embolization in patients with HCC. Our technology offers selectable direction for actuator-based navigation of microrobots at the human scale.<\/jats:p>","DOI":"10.1126\/scirobotics.adh8702","type":"journal-article","created":{"date-parts":[[2024,2,14]],"date-time":"2024-02-14T18:58:59Z","timestamp":1707937139000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":45,"title":["Human-scale navigation of magnetic microrobots in hepatic arteries"],"prefix":"10.1126","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0252-1868","authenticated-orcid":true,"given":"Ning","family":"Li","sequence":"first","affiliation":[{"name":"Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l\u2019Universit\u00e9 de Montr\u00e9al (CRCHUM), Montr\u00e9al, Qu\u00e9bec H2X 0A9, Canada."},{"name":"Universit\u00e9 de Montr\u00e9al, Montr\u00e9al, Qu\u00e9bec H3T 1J4, 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