{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:36:13Z","timestamp":1760236573886,"version":"build-2065373602"},"reference-count":40,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,12,1]],"date-time":"2021-12-01T00:00:00Z","timestamp":1638316800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000070","name":"National Institute of Biomedical Imaging and Bioengineering","doi-asserted-by":"publisher","award":["R01EB020610"],"award-info":[{"award-number":["R01EB020610"]}],"id":[{"id":"10.13039\/100000070","id-type":"DOI","asserted-by":"publisher"}]},{"name":"University of Maryland Medical Device Development Fund (MDDF)","award":["MDDF"],"award-info":[{"award-number":["MDDF"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The application of force in surgical settings is typically accomplished via physical tethers to the surgical tool. While physical tethers are common and critical, some internal surgical procedures may benefit from a tetherless operation of needles, possibly reducing the number of ports in the patient or the amount of tissue damage caused by tools used to manipulate needles. Magnetic field gradients can dynamically apply kinetic forces to magnetizable objects free of such tethers, possibly enabling ultra-minimally invasive robotic surgical procedures. We demonstrate the untethered manipulation of a suture needle in vitro, exemplified by steering through narrow holes, as well as needle penetration through excised rat and human tissues. We present proof of principle manipulations for the fully untethered control of a minimally modified, standard stainless steel surgical suture needle.<\/jats:p>","DOI":"10.3390\/robotics10040129","type":"journal-article","created":{"date-parts":[[2021,12,1]],"date-time":"2021-12-01T03:12:56Z","timestamp":1638328376000},"page":"129","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Going Hands-Free: MagnetoSuture\u2122 for Untethered Guided Needle Penetration of Human Tissue Ex Vivo"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9459-3932","authenticated-orcid":false,"given":"Lamar O.","family":"Mair","sequence":"first","affiliation":[{"name":"Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0296-8205","authenticated-orcid":false,"given":"Sagar","family":"Chowdhury","sequence":"additional","affiliation":[{"name":"Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USA"}]},{"given":"Xiaolong","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2306-2664","authenticated-orcid":false,"given":"Onder","family":"Erin","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA"}]},{"given":"Oleg","family":"Udalov","sequence":"additional","affiliation":[{"name":"Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2889-6841","authenticated-orcid":false,"given":"Suraj","family":"Raval","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA"}]},{"given":"Benjamin","family":"Johnson","sequence":"additional","affiliation":[{"name":"Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA"}]},{"given":"Sahar","family":"Jafari","sequence":"additional","affiliation":[{"name":"Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7222-0625","authenticated-orcid":false,"given":"David J.","family":"Cappelleri","sequence":"additional","affiliation":[{"name":"Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA"},{"name":"Weldon School of Biomedical Engineering, Purdue University, West Lafayette, IN 47907, USA"}]},{"given":"Yancy","family":"Diaz-Mercado","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA"}]},{"given":"Axel","family":"Krieger","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8564-2982","authenticated-orcid":false,"given":"Irving N.","family":"Weinberg","sequence":"additional","affiliation":[{"name":"Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USA"}]}],"member":"1968","published-online":{"date-parts":[[2021,12,1]]},"reference":[{"key":"ref_1","first-page":"1861","article-title":"Stitching Wounds with the Mandibles of Ants and Beetles. 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