Magnet Array-Actuated Steerable Flexible Robot with Beacon- TfmUltrasonic Position Sensing for Robotic Neurosurgery. - Xinfeng Gu; Qingyu Zhang; Xiaoyu Sun; Zhiyuan Shen; Bruce W. Drinkwater; Feng Ju (IROS, 2023)

A Flexible Surgical Robot with Hemispherical Magnet Array Steering and Embedded Piezoelectric Beacon for Ultrasonic Position Sensing. - Feng Ju; Xinfeng Gu; Bai Chen; Xiaoyu Sun; Zhiyuan Shen; Bruce W. Drinkwater; Liping Ding (Adv. Intell. Syst., 2024)