Science Robotics

Supplementary Materials

The PDF file includes:

  • A description of the experimental data submitted with the manuscript
  • Fig. S1. RCE roll and tilt conventions and the benchtop phantoms.
  • Fig. S2. Characterization of tilt and roll ranges using time series of filtered waveforms.
  • Fig. S3. Series of filtered waveforms used to compute ESR during benchtop trials.
  • Fig. S4. Spatially relevant B-scan generation.
  • Fig. S5. Filtering of an in vivo ╬╝US image.
  • Fig. S6. Agar phantom manufacture.
  • A description of the agar phantom and manufacture protocol
  • Table S1. Agar phantom composition.
  • A description of magnetic actuation methods
  • Parylene C coating and RCE leak testing

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Other Supplementary Material for this manuscript includes the following:

  • Data S1 (Zipped folder). All experimental data referenced in the manuscript.
  • Movie S1 (.mp4 format). Concept overview.
  • Movie S2 (.mp4 format). Benchtop testing.
  • Movie S3 (.mp4 format). In vivo testing.

Files in this Data Supplement: