Science Robotics

Supplementary Materials

The PDF file includes:

  • Materials and Methods
  • Fig. S1. Multiple views of the 3D model of the vascular phantom used in in vitro experiments.
  • Fig. S2. In vitro results of registration of vessel centerline.
  • Fig. S3. Registration of the vascular trajectory on the x-ray image.
  • Fig. S4. Example of planning vascular trajectory and its segmentation to plan FFN experiment.
  • Fig. S5. The order of the fringe field map from the best points for navigation to the least appropriate points.
  • Fig. S6. The working zones for the robotic patient positioning.
  • Fig. S7. Pictures of robotic positioning of the patient table.
  • Reference (45)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). In vitro: Targets 1 and 2 and the retrieval of the guidewire.
  • Movie S2 (.mp4 format). In vitro FFN: Navigation to target 3 and trying to insert the device without FFN.
  • Movie S3 (.mp4 format). In vitro FFN: Target 4 and retrieval of the guidewire.
  • Movie S4 (.mp4 format). In vitro FFN: Target 5 and retrieval of the guidewire.
  • Movie S5 (.mp4 format). In vitro FFN: Target 6.
  • Movie S6 (.mp4 format). In vitro FFN: Demonstration of the strong magnetic actuation in FFN for navigation.
  • Movie S7 (.mp4 format). In vitro FFN: Further insertion of the guidewire by exerting a gradient pulling force on the tip of the guidewire.
  • Movie S8 (.mp4 format). In vitro FFN: Further insertion of the guidewire by exerting a gradient pulling force on the tip of the guidewire.
  • Movie S9 (.mp4 format). In vitro FFN: Further insertion of the guidewire by exerting a gradient pulling force on the tip of the guidewire.
  • Movie S10 (.mp4 format). Interaction between a spring and the magnetic field.
  • Movie S11 (.mp4 format). Navigation of a guidewire with a spring magnetic tip.
  • Movie S12 (.mp4 format). Navigation of a guidewire with a spring magnetic tip.
  • Movie S13 (.mp4 format). Navigation of a guidewire with a spring magnetic tip.
  • Movie S14 (.mp4 format). Navigation of a guidewire with a spring magnetic tip.

Files in this Data Supplement: