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. 2024 Sep 30;15:8456. doi: 10.1038/s41467-024-51137-8

Fig. 8. SHY continuum robot performing needle and optical fiber steering tasks.

Fig. 8

a The SHY continuum robot (i) successfully guides the needle toward four target locations (marked with black circular rings) on the tissue simulator. This in vitro experiment demonstrates robot needle steering and puncturing capabilities. After puncturing each target location, red dye is injected into the tissue analog to confirm puncturing (ii–vi). The SHY continuum robot is retracted back to its original position after successful injections. b The SHY continuum robot steers the optical fiber toward three brown ring targets. Initially, the LED light emitted through the optical fiber is unfocused (i) because of the considerable distance between the fiber tip and the targets. Once the robot reaches the targets, it successfully delivers focused light precisely, demonstrating its ability to deliver light therapy in different locations (ii–iv).

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