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. 2019 May 20;3(2):026104. doi: 10.1063/1.5090872

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© 2019 Author(s).

2473-2877/2019/3(2)/026104/10

All article content, except where otherwise noted, is licensed under a Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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FIG. 10. — Magnetic localization of a helical robot is achieved and compared to ultrasound feedback. (a) The helical robot is allowed to swim in whole blood and its position is detected using an ultrasound transducer (LA523 linear array ultrasound transducer, Esaote, Italy). The red rectangles indicate the position of the helical robot at different time instants. (b) The absolute position error between the magnetic tracking and ultrasound feedback is 2.6 mm (see the supplementary material video).