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. 2018 Feb 27;8:3691. doi: 10.1038/s41598-018-22110-5

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Manipulation of the MDA in 2D vascular network model. Translational locomotion of the MDA with double spirals in the 2D vascular network model placed: (a) on the horizontal plane and (b) on the vertical plane. (i) and (ii) show selective movement of the MDA toward 45° and 60° channels, respectively, by manipulation using EMA. Scale bar represents 10 mm. The MDA selected and moved along the desired path via the junctions of multiple channels with different angles.