{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T06:05:14Z","timestamp":1783577114477,"version":"3.55.0"},"reference-count":57,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"106","content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2025,9,17]]},"abstract":"<jats:p>Intelligent miniature systems capable of wireless sensing and manipulation hold considerable promise for advancing biomedical applications. However, the development of these systems has been substantially hindered by sensing-actuation incompatibility at small scales. To overcome this challenge, we propose a robotic sensing approach that integrates embedded ultrasonic soft sensors (EUSSs) with magnetic actuators, resulting in a wireless sensor-integrated miniature machine with seamless integration and minimal interference between fields. The EUSS, with its compact dimensions (1.3 millimeters by 1.3 millimeters by 1.6 millimeters), softness (98 kilopascals), and lightweight design (4.6 milligrams), is compatible with both soft and rigid components in terms of deformability and size. By engineering onboard transducers and using passive ultrasound communication along with external magnetic fields, we could wirelessly detect and regulate environmental parameters such as force, vibration, viscosity, and temperature. Demonstrations in rabbit and porcine models show the potential for robotic feedback control, accurate drug dosing, and in situ physiological monitoring, paving the way for real-world applications of intelligent miniature machines.<\/jats:p>","DOI":"10.1126\/scirobotics.adu4851","type":"journal-article","created":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T17:58:18Z","timestamp":1758131898000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":18,"title":["Miniature magneto-ultrasonic machines for wireless robotic sensing and manipulation"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-7139-8519","authenticated-orcid":true,"given":"Xurui","family":"Liu","sequence":"first","affiliation":[{"name":"School of Integrated Circuits and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China."},{"name":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, New Territories, Hong Kong SAR, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8494-9031","authenticated-orcid":true,"given":"Hanchuan","family":"Tang","sequence":"additional","affiliation":[{"name":"School of Integrated Circuits and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Na","family":"Li","sequence":"additional","affiliation":[{"name":"School of Integrated Circuits and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Linjie","family":"He","sequence":"additional","affiliation":[{"name":"School of Integrated Circuits and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6659-6108","authenticated-orcid":true,"given":"Ye","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Integrated Circuits and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1719-0392","authenticated-orcid":true,"given":"Bo","family":"Hao","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, New Territories, Hong Kong SAR, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8183-5955","authenticated-orcid":true,"given":"Junnan","family":"Xue","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, New Territories, Hong Kong SAR, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4958-0160","authenticated-orcid":true,"given":"Chaoyu","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, New Territories, Hong Kong SAR, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3125-5199","authenticated-orcid":true,"given":"Joseph Jao Yiu","family":"Sung","sequence":"additional","affiliation":[{"name":"Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore, Singapore."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1152-8962","authenticated-orcid":true,"given":"Li","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, New Territories, Hong Kong SAR, China."},{"name":"Department of Surgery, Chinese University of Hong Kong, Shatin, Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1775-4605","authenticated-orcid":true,"given":"Jianfeng","family":"Zang","sequence":"additional","affiliation":[{"name":"School of Integrated Circuits and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China."},{"name":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature25443"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-018-0185-0"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2022.3165713"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-bioeng-010510-103409"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-019-0169-1"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41563-024-01942-9"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14294"},{"key":"e_1_3_2_9_2","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1038\/nrd.2016.136","article-title":"Parsing clinical success rates","volume":"15","author":"Mullard A.","year":"2016","unstructured":"A. Mullard, Parsing clinical success rates. Nat. Rev. Drug Discov. 15, 447\u2013448 (2016).","journal-title":"Nat. Rev. Drug Discov."},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adh2479"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adh8702"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adh1978"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abo4401"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.ado3187"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.abn4732"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-024-01122-2"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-042920-013322"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-023-01022-4"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adh7852"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-019-1388-8"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.abn0090"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.add1053"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.adf5451"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-024-07334-y"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.adk9880"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abf6312"},{"key":"e_1_3_2_27_2","doi-asserted-by":"crossref","unstructured":"T. \u00d6. Onur \u201cUltrasound and ultrasonic imaging in medicine: Recent advances\u201d in Acoustic Technologies in Biology and Medicine A. Ozcelik R. Becker T. J. Huang Eds. (Wiley 2023) pp. 99\u2013126; https:\/\/doi.org\/10.1002\/9783527841325.ch4.","DOI":"10.1002\/9783527841325.ch4"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsolstr.2014.12.018"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.3390\/cryst10040305"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1001\/archsurg.139.11.1215"},{"key":"e_1_3_2_31_2","doi-asserted-by":"crossref","first-page":"e000084","DOI":"10.1136\/bmjsit-2021-000084","article-title":"Tissue stress from laparoscopic grasper use and bowel injury in humans: Establishing intraoperative force boundaries","volume":"3","author":"Khan A. F.","year":"2021","unstructured":"A. F. Khan, M. K. MacDonald, C. Streutker, C. Rowsell, J. Drake, T. Grantcharov, Tissue stress from laparoscopic grasper use and bowel injury in humans: Establishing intraoperative force boundaries. BMJ Surg. Interv. Health Technol. 3, e000084 (2021).","journal-title":"BMJ Surg. Interv. Health Technol."},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abm5616"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abi8932"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1227\/00006123-198903000-00025"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abq4821"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abd4639"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202303301"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abb1093"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abp9066"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-024-46046-9"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1055\/s-0030-1256311"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2249.2004.02415.x"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2036.2009.03960.x"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1002\/adtp.201900125"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1063\/1.4896487"},{"key":"e_1_3_2_46_2","doi-asserted-by":"crossref","unstructured":"R. Pringle \u201cGastric mucus viscosity and peptic ulcer \u201d in Mucus in Health and Disease M. Elstein D. V. Parke Eds. (Springer 1977) pp. 227\u2013237; https:\/\/link.springer.com\/chapter\/10.1007\/978-1-4613-4172-7_17.","DOI":"10.1007\/978-1-4613-4172-7_17"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-38689-x"},{"key":"e_1_3_2_48_2","doi-asserted-by":"crossref","unstructured":"C.-C. Yeh Y.-J. Yang \u201cAn RF-powered wireless micro-heater integrated with acrylate-composite-based temperature regulatory for hyperthermia treatment\u201d in 2020 IEEE 33rd International Conference on Micro Electro Mechanical Systems (MEMS) (IEEE 2020) pp. 357\u2013360; https:\/\/ieeexplore.ieee.org\/document\/9056427.","DOI":"10.1109\/MEMS46641.2020.9056427"},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-024-01183-w"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.adh7726"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1109\/MPUL.2011.942603"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1053\/j.tvir.2013.08.002"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1148\/rg.241025144"},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1161\/01.CIR.91.8.2264"},{"key":"e_1_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmecsci.2022.107906"},{"key":"e_1_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.biomaterials.2007.05.034"},{"key":"e_1_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abh3328"},{"key":"e_1_3_2_58_2","first-page":"99","article-title":"Structural analysis of helical bimetallic strip thermostat","volume":"3","author":"Zaharia D.","year":"2011","unstructured":"D. Zaharia, Structural analysis of helical bimetallic strip thermostat. Int. J. Mod. Manuf. Technol. 3, 99\u2013106 (2011).","journal-title":"Int. J. Mod. Manuf. Technol."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.adu4851","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T17:58:19Z","timestamp":1758131899000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.adu4851"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,17]]},"references-count":57,"journal-issue":{"issue":"106","published-print":{"date-parts":[[2025,9,17]]}},"alternative-id":["10.1126\/scirobotics.adu4851"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.adu4851","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,17]]},"assertion":[{"value":"2024-11-12","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-08-19","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-09-17","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eadu4851"}}