Evidence map›Paper›PMID 42598752›Full record

ArticleAdvanced science (Weinheim, Baden-Wurttemberg, Germany)2026

Performance Estimation and Ex Vivo Validation of Untethered Magnetic Robots in Soft Tissue.

Leendert-Jan W Ligtenberg, Thijs J van der Burg, Stijn Y Kolkman, Santiago Saavedra Castano, David Fernandez Rivas, Anke Klingner, Roger M L M Lomme, Lucas S Joziasse, Dorothee Wasserberg, H Remco Liefers and 10 more

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Advanced science (Weinheim, Baden-Wurttemberg, Germany), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

20 authors.

Leendert-Jan W LigtenbergRAM-Robotics and Mechatronics, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0009-0001-1960-5283
Thijs J van der BurgRAM-Robotics and Mechatronics, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0009-0001-5737-9096
Stijn Y KolkmanRAM-Robotics and Mechatronics, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0009-0008-6717-6277
Santiago Saavedra CastanoTechnical Medical Centre, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0000-0002-8790-2175
David Fernandez RivasTechnical Medical Centre, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0000-0003-4329-3248
Anke KlingnerDepartment of Physics, German University in Cairo, New Cairo, Egypt.ORCID https://orcid.org/0000-0002-2426-433X
Roger M L M LommeRadboud University Medical Center, Nijmegen, The Netherlands.ORCID https://orcid.org/0000-0002-4856-9234
Lucas S JoziasseRadboud University Medical Center, Nijmegen, The Netherlands.ORCID https://orcid.org/0009-0007-4033-6667
Dorothee WasserbergLipoCoat B.V., Enschede, The Netherlands.ORCID https://orcid.org/0000-0002-1493-2971
H Remco LiefersTechnical Medical Centre, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0009-0006-2149-3731
Doron Ben AmiTriticum Medical, Ramat HaSharon, Israel.
Udi SadehTriticum Medical, Ramat HaSharon, Israel.ORCID https://orcid.org/0000-0003-0549-2684
Oded ShoseyovTriticum Medical, Ramat HaSharon, Israel.ORCID https://orcid.org/0000-0003-3340-9921
Giulio DagninoRAM-Robotics and Mechatronics, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0000-0002-1613-1051
Pascal JonkheijmTechnical Medical Centre, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0000-0001-6271-0049
Jurgen J FüttererRAM-Robotics and Mechatronics, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0000-0001-6800-2879
Stefano StramigioliRAM-Robotics and Mechatronics, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0000-0001-8212-7387
J Frank W NijsenRadboud University Medical Center, Nijmegen, The Netherlands.ORCID https://orcid.org/0000-0001-7625-2253
Michiel C WarléRadboud University Medical Center, Nijmegen, The Netherlands.ORCID https://orcid.org/0000-0002-1151-4571
Islam S M KhalilRAM-Robotics and Mechatronics, University of Twente, Enschede, The Netherlands.ORCID https://orcid.org/0000-0003-0617-088X

Funding

EFRO Oost 2021-2027 00088Health~Holland HH-PPS-24177-MKB-H062Nederlandse Organisatie voor Wetenschappelijk Onderzoek 21805Twente University Fund
6 · The paper itself

Abstract

The navigation and control of untethered magnetic robots (UMRs) within soft brain tissue critically depend on their ability to maintain synchronized rotation under applied rotational magnetic fields. The fundamental upper limit of this magnetic synchronization, known as the step-out frequency, directly affects propulsion efficiency and control stability. This study presents an empirical model for predicting the step-out frequency of UMRs operating in ex vivo brain tissue with viscoelastic properties representative of the in vivo environment. Using Buckingham Pi dimensional analysis, we derive a compact set of dimensionless groups that capture the effects of robot geometry and tissue viscoelasticity, with magnetic torque used as the scaling basis. Experimental validation with spiral-type UMRs in gelatin-based phantoms shows that the step-out frequency decreases exponentially, from approximately 30 Hz in low-stiffness media (complex shear modulus

Indexed as

brain tissuemagnetic robotsstep‐out frequencyviscoelasticity

Identifiers

PMID42598752
PMCPMC13474191

What Socratic holds

Textmetadata
Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the Socratic graph.