{"id":"https://openalex.org/W4408853853","doi":"https://doi.org/10.1126/scirobotics.adq4198","title":"Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging","display_name":"Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging","publication_year":2025,"publication_date":"2025-03-26","ids":{"openalex":"https://openalex.org/W4408853853","doi":"https://doi.org/10.1126/scirobotics.adq4198","pmid":"https://pubmed.ncbi.nlm.nih.gov/40138484"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adq4198","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adq4198","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/74bf95ea-751c-4fae-aa19-62c5570d0a31","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5099087733","display_name":"Nikita J. Greenidge","orcid":"https://orcid.org/0000-0003-0413-5503"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Nikita J. Greenidge","raw_affiliation_strings":["STORM Lab, University of Leeds, Leeds, UK"],"raw_orcid":"https://orcid.org/0000-0003-0413-5503","affiliations":[{"raw_affiliation_string":"STORM Lab, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059293597","display_name":"Benjamin Calm\u00e9","orcid":"https://orcid.org/0000-0002-1460-9920"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Benjamin Calm\u00e9","raw_affiliation_strings":["STORM Lab, University of Leeds, Leeds, UK"],"raw_orcid":"https://orcid.org/0000-0002-1460-9920","affiliations":[{"raw_affiliation_string":"STORM Lab, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020600657","display_name":"Alexandru Moldovan","orcid":null},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alexandru C. Moldovan","raw_affiliation_strings":["University of Glasgow, Glasgow, UK"],"raw_orcid":"https://orcid.org/0009-0008-7226-0748","affiliations":[{"raw_affiliation_string":"University of Glasgow, Glasgow, UK","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039960083","display_name":"Bartas Abaravi\u010dius","orcid":"https://orcid.org/0000-0002-7833-3214"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bartas Abaravicius","raw_affiliation_strings":["University of Edinburgh, Edinburgh, UK"],"raw_orcid":"https://orcid.org/0000-0002-7833-3214","affiliations":[{"raw_affiliation_string":"University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025791509","display_name":"James Martin","orcid":"https://orcid.org/0000-0002-4450-8127"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James W. Martin","raw_affiliation_strings":["STORM Lab, University of Leeds, Leeds, UK"],"raw_orcid":"https://orcid.org/0000-0002-4450-8127","affiliations":[{"raw_affiliation_string":"STORM Lab, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014372527","display_name":"Nils Marahrens","orcid":null},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nils Marahrens","raw_affiliation_strings":["STORM Lab, University of Leeds, Leeds, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"STORM Lab, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021294912","display_name":"Jon Woolfrey","orcid":"https://orcid.org/0000-0001-5926-5669"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jon Woolfrey","raw_affiliation_strings":["STORM Lab, University of Leeds, Leeds, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"STORM Lab, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058233406","display_name":"Bruno Scaglioni","orcid":"https://orcid.org/0000-0003-4891-8411"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bruno Scaglioni","raw_affiliation_strings":["STORM Lab, University of Leeds, Leeds, UK"],"raw_orcid":"https://orcid.org/0000-0003-4891-8411","affiliations":[{"raw_affiliation_string":"STORM Lab, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011512727","display_name":"Damith Suresh Chathuranga","orcid":"https://orcid.org/0000-0001-6950-1848"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Damith S. Chathuranga","raw_affiliation_strings":["STORM Lab, University of Leeds, Leeds, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"STORM Lab, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049405747","display_name":"Srinjoy Mitra","orcid":"https://orcid.org/0000-0003-1505-2316"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Srinjoy Mitra","raw_affiliation_strings":["University of Edinburgh, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021256803","display_name":"S. Cochran","orcid":"https://orcid.org/0000-0001-7324-7790"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sandy Cochran","raw_affiliation_strings":["University of Glasgow, Glasgow, UK"],"raw_orcid":"https://orcid.org/0000-0001-7324-7790","affiliations":[{"raw_affiliation_string":"University of Glasgow, Glasgow, UK","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035357710","display_name":"Pietro Valdastri","orcid":"https://orcid.org/0000-0002-2280-5438"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pietro Valdastri","raw_affiliation_strings":["STORM Lab, University of Leeds, Leeds, UK"],"raw_orcid":"https://orcid.org/0000-0002-2280-5438","affiliations":[{"raw_affiliation_string":"STORM Lab, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5099087733"],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":null,"apc_paid":null,"fwci":13.3451,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.99147566,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"10","issue":"100","first_page":"eadq4198","last_page":"eadq4198"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6932225227355957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6187909841537476},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5516270399093628},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4724731147289276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4485008120536804},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3610230088233948},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17849689722061157}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6932225227355957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6187909841537476},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5516270399093628},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4724731147289276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4485008120536804},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3610230088233948},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17849689722061157},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008280","descriptor_name":"Magnetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008280","descriptor_name":"Magnetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008280","descriptor_name":"Magnetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008280","descriptor_name":"Magnetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013552","descriptor_name":"Swine","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D019047","descriptor_name":"Phantoms, Imaging","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D021621","descriptor_name":"Imaging, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.1126/scirobotics.adq4198","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adq4198","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:40138484","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40138484","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null},{"id":"pmh:oai:pure.ed.ac.uk:openaire/74bf95ea-751c-4fae-aa19-62c5570d0a31","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/74bf95ea-751c-4fae-aa19-62c5570d0a31","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Greenidge, N J, Calme, B, Moldovan, A, Abaravi\u010dius, B, James, M, Marahrens, N, Woolfrey, J, Scaglioni, B, Chathuranga, D S, Mitra, S, Cochran, S & Valdastri, P 2025, 'Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging', Science Robotics, vol. 10, no. 100, eadq4198. https://doi.org/10.1126/scirobotics.adq4198","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:224932","is_oa":false,"landing_page_url":"https://orcid.org/0000-0003-0413-5503>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10209907","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10209907/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Science Robotics , 10  (100)    , Article eadq4198. (2025)","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/74bf95ea-751c-4fae-aa19-62c5570d0a31","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/74bf95ea-751c-4fae-aa19-62c5570d0a31","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Greenidge, N J, Calme, B, Moldovan, A, Abaravi\u010dius, B, James, M, Marahrens, N, Woolfrey, J, Scaglioni, B, Chathuranga, D S, Mitra, S, Cochran, S & Valdastri, P 2025, 'Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging', Science Robotics, vol. 10, no. 100, eadq4198. https://doi.org/10.1126/scirobotics.adq4198","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W641642611","https://openalex.org/W1993086849","https://openalex.org/W2055573331","https://openalex.org/W2056677440","https://openalex.org/W2070112477","https://openalex.org/W2094904022","https://openalex.org/W2103568044","https://openalex.org/W2127307850","https://openalex.org/W2140535719","https://openalex.org/W2166532639","https://openalex.org/W2484161709","https://openalex.org/W2575976460","https://openalex.org/W2604963436","https://openalex.org/W2610915011","https://openalex.org/W2784054252","https://openalex.org/W2800550003","https://openalex.org/W2810031855","https://openalex.org/W2910011012","https://openalex.org/W2920243635","https://openalex.org/W2951997750","https://openalex.org/W2980790222","https://openalex.org/W3043800339","https://openalex.org/W3093713122","https://openalex.org/W3159370513","https://openalex.org/W3167141760","https://openalex.org/W3192882620","https://openalex.org/W4248472863","https://openalex.org/W4285120271","https://openalex.org/W4297034354","https://openalex.org/W4361245493","https://openalex.org/W4385306835","https://openalex.org/W4385693556","https://openalex.org/W4388447429","https://openalex.org/W4388795371","https://openalex.org/W4391538480","https://openalex.org/W4391807372","https://openalex.org/W4392811649","https://openalex.org/W4395067290","https://openalex.org/W4399672895","https://openalex.org/W4401523901","https://openalex.org/W4402575529","https://openalex.org/W4403129830","https://openalex.org/W6769988992"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Magnetic":[0],"fields":[1],"enable":[2],"remote":[3],"manipulation":[4,45,123],"of":[5,40,65,86,124,138,177],"objects":[6],"and":[7,34,82,99,154,172],"are":[8],"ideal":[9],"for":[10,24],"medical":[11,192],"applications":[12,134,199],"because":[13],"they":[14],"pass":[15],"through":[16,135],"human":[17,32,203],"tissue":[18],"harmlessly.":[19],"This":[20,128,181],"capability":[21,129,189],"is":[22,46],"promising":[23],"surgical":[25],"robots,":[26],"allowing":[27],"navigation":[28],"deeper":[29],"into":[30],"the":[31,38,62,66,83,90,136,163,202],"anatomy":[33],"accessing":[35],"organs":[36],"beyond":[37],"reach":[39],"current":[41],"technologies.":[42],"However,":[43],"magnetic":[44,67,110,122,191],"typically":[47],"limited":[48],"to":[49,119,143,166,190],"a":[50,75,114,139,159,186],"maximum":[51],"two-degrees-of-freedom":[52],"orientation,":[53],"restricting":[54],"complex":[55],"motions,":[56,169],"especially":[57],"those":[58],"including":[59],"rolling":[60,103],"around":[61],"main":[63],"axis":[64],"robot.":[68,127],"To":[69],"address":[70],"this":[71],"challenge,":[72],"we":[73],"introduce":[74],"robot":[76],"design":[77],"inspired":[78],"by":[79,107],"embodied":[80],"intelligence":[81],"unique":[84],"geometry":[85],"developable":[87],"rollers,":[88],"leveraging":[89],"oloid":[91],"shape.":[92],"The":[93],"oloid,":[94],"with":[95],"its":[96],"axial":[97],"asymmetry":[98],"sinusoidal":[100],"motion,":[101],"facilitates":[102],"when":[104],"precisely":[105],"controlled":[106],"an":[108,125],"external":[109],"field.":[111],"We":[112],"present":[113],"versatile":[115],"closed-loop":[116],"control":[117],"model":[118,161],"ensure":[120],"precise":[121],"oloid-shaped":[126],"was":[130],"validated":[131],"in":[132,152,155],"endoluminal":[133],"integration":[137],"28-megahertz":[140],"micro-ultrasound":[141],"array":[142],"perform":[144],"virtual":[145],"biopsies,":[146],"noninvasive":[147],"real-time":[148],"histological":[149],"imaging.":[150],"Extensive":[151],"vitro":[153],"vivo":[156],"tests":[157],"using":[158],"porcine":[160],"showed":[162],"robot's":[164],"ability":[165],"execute":[167],"sweeping":[168],"identify":[170],"lesions,":[171],"generate":[173],"detailed":[174],"three-dimensional":[175],"scans":[176],"gastrointestinal":[178],"subsurface":[179],"tissue.":[180],"research":[182],"not":[183],"only":[184],"restores":[185],"critical":[187],"movement":[188],"robots":[193],"but":[194],"also":[195],"enables":[196],"additional":[197],"clinical":[198],"deep":[200],"within":[201],"body.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":8}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}