Publications

2024

Teleoperated Magnetic Endoscopy: A Case Study and Perspective
Alexandre Mesot, Michelle Mattille, Quentin Boehler, Nina Schmid, Sean Lyttle, Florian Heemeyer, Shannon M. Chan , Philip W. Y. Chiu , and Bradley J. Nelson
Advanced Intelligent Systems, 2024
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Magnetically Guided Microcatheter for Targeted Injection of Magnetic Particle Swarms
Harun Torlakcik, Semih Sevim, Pedro Alves , Michael Mattmann, Joaquim Llacer-Wintle , Maria Pinto , Rosa Moreira , Andreas D. Flouris , Fabian C. Landers , Xiang-Zhong Chen, Josep Puigmartí-Luis, Quentin Boehler, Tiago Sotto Mayor , Minsoo Kim, Bradley J. Nelson, and Salvador Pane
Advanced Science, 2024
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A Human-Scale Clinically Ready Electromagnetic Navigation System for Magnetically Responsive Biomaterials and Medical Devices
Simone Gervasoni, Norman Pedrini , Tarik Rifai , Cedric Fischer, Fabian C. Landers , Michael Mattmann, Roland Dreyfus, Silvia Viviani, Andrea Veciana , Enea Masina , Buse Aktas , Josep Puigmartí-Luis, Christophe Chautems, Salvador Pane, Quentin Boehler, Philipp Gruber , and Bradley J. Nelson
Advanced Materials, 2024
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Fast Rotating Magnetic Fields in Open Workspace Using Resonant Magnetic Actuation Systems With Magnetic Decoupling
Denis von Arx, Harun Torlakcik, Minsoo Kim, Salvador Pane, Bradley J. Nelson, and Quentin Boehler
IEEE Robotics and Automation Letters, 2023
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Autonomous Magnetic Navigation in Endoscopic Image Mosaics
Michelle Mattille, Quentin Boehler, Jonas Lussi, Nicole Ochsenbein, Ueli Moehrlen, and Bradley J. Nelson
Advanced Science, 2024
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Dexterous helical magnetic robot for improved endovascular access
Roland Dreyfus, Quentin Boehler, Sean Lyttle, Philipp Gruber , Jonas Lussi, Christophe Chautems, Simone Gervasoni, Jatta Berberat , Dominic Seibold , Nicole Ochsenbein, Michael Reinehr , Miriam Weisskopf , Luca Remonda , and Bradley J. Nelson
Science Robotics, 2024
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2023

Simultaneous Localization and Actuation Using Electromagnetic Navigation Systems
Denis von Arx, Cedric Fischer, Harun Torlakcik, Salvador Pane, Bradley J. Nelson, and Quentin Boehler
IEEE Transactions on Robotics, 2023
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An Evaluation Platform for Catheter Ablation Navigation
Florian Heemeyer, Christophe Chautems, Quentin Boehler, Jose L. Merino , and Bradley J. Nelson
International Symposium on Medical Robotics (ISMR), 2023
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Self-folding soft-robotic chains with reconfigurable shapes and functionalities
Hongri Gu, Marino Möckli , Claas Ehmke, Minsoo Kim, Matthias Wieland , Simon Moser , Clemens Bechinger, Quentin Boehler, and Bradley J. Nelson
Nature Communications, 2023
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2022

Shape memory polymer variable stiffness magnetic catheters with hybrid stiffness control
Michael Mattmann, Quentin Boehler, Xiang-Zhong Chen, Salvador Pane, and Bradley J. Nelson
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
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Magnetically Guided Laser Surgery for the Treatment of Twin-to-Twin Transfusion Syndrome
Jonas Lussi, Simone Gervasoni, Michelle Mattille, Roland Dreyfus, Quentin Boehler, Michael Reinehr , Nicole Ochsenbein, Bradley J. Nelson, and Ueli Moehrlen
Advanced Intelligent Systems, 2022
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Gradiometer-based Magnetic Localization for Medical Tools
Cedric Fischer, Thomas Quirin , Christophe Chautems, Quentin Boehler, Joris Pascal , and Bradley J. Nelson
IEEE Transactions on Magnetics, 2022
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On the Workspace of Electromagnetic Navigation Systems
Quentin Boehler, Simone Gervasoni, Samuel L. Charreyron, Christophe Chautems, and Bradley J. Nelson
IEEE Transactions on Robotics, 2022
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Artificial Microtubules for Rapid and Collective Transport of Magnetic Microcargoes
Hongri Gu, Emre Hanedan , Quentin Boehler, Tian-Yun Huang, Arnold J. T. M. Mathijssen , and Bradley J. Nelson
Nature Machine Intelligence, 2022
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A Simulation Framework for Magnetic Continuum Robots
Roland Dreyfus, Quentin Boehler, and Bradley J. Nelson
IEEE Robotics and Automation Letters, 2022
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Using Magnetic Fields to Navigate and Simultaneously Localize Catheters in Endoluminal Environments
Cedric Fischer, Quentin Boehler, and Bradley J. Nelson
IEEE Robotics and Automation Letters, 2022
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Magnetic Concentric Tube Robots: Introduction and Analysis
Quentin Peyron, Quentin Boehler, Patrick Rougeot , Pierre Roux , Bradley J. Nelson, Nicolas Andreff, Kanty Rabenorosoa, and Pierre Renaud
The International Journal of Robotics Research, 2022
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A Variable Stiffness Magnetic Catheter Made of a Conductive Phase-Change Polymer for Minimally Invasive Surgery
Yegor Piskarev, Jun Shintake , Christophe Chautems, Jonas Lussi, Quentin Boehler, Bradley J. Nelson, and Dario Floreano
Advanced Functional Materials, 2022
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Magnetically Assisted Robotic Fetal Surgery for the Treatment of Spina Bifida
Simone Gervasoni, Jonas Lussi, Silvia Viviani, Quentin Boehler, Nicole Ochsenbein, Ueli Moehrlen, and Bradley J. Nelson
IEEE Transactions on Medical Robotics and Bionics, 2022
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2021

Thermoset Shape Memory Polymer Variable Stiffness 4D Robotic Catheters
Michael Mattmann, Carmela De Marco, Francesco Briatico, Stefano Tagliabue, Aron Colusso, Xiang-Zhong Chen, Jonas Lussi, Christophe Chautems, Salvador Pane, and Bradley J. Nelson
Advanced Science, 2021
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A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control
Jonas Lussi, Michael Mattmann, Semih Sevim, Fabian Grigis, Carmela De Marco, Christophe Chautems, Salvador Pane, Josep Puigmartí-Luis, Quentin Boehler, and Bradley J. Nelson
Advanced Science, 2021
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Modeling Electromagnetic Navigation Systems
Samuel L. Charreyron, Quentin Boehler, Byungsoo Kim, Cameron Weibel, Christophe Chautems, and Bradley J. Nelson
IEEE Transactions on Robotics, 2021
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2020

Magnetically Active Cardiac Patches as an Untethered, Non‐Blood Contacting Ventricular Assist Device
Hongri Gu, Thibaud Bertrand, Quentin Boehler, Christophe Chautems, Nikolay V. Vasilyev, and Bradley J. Nelson
Advanced Science, 2020
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Magnetic Cilia Carpets with Programmable Metachronal Waves
Hongri Gu, Quentin Boehler, Haoyang Cui, Eleonora Secchi, Giovanni Savorana, Carmela De Marco, Simone Gervasoni, Quentin Peyron, Tian-Yun Huang, Salvador Pane, Ann M. Hirt, Daniel Ahmed, and Bradley J. Nelson
Nature Communications, 2020
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A Magnetically Navigated Microcannula for Subretinal Injections
Samuel L. Charreyron, Quentin Boehler, Aschraf Danun, Alexandre Mesot, Matthias Becker, and Bradley J. Nelson
IEEE Transactions on Biomedical Engineering, 2020
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2019

Magnetic Quadrupole Assemblies with Arbitrary Shapes and Magnetizations
Hongri Gu, Quentin Boehler, Daniel Ahmed, and Bradley J. Nelson
Science Robotics, 2019
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Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery
Christophe Chautems, Alice Tonazzini, Quentin Boehler, Seung Hee Jeong, Dario Floreano, and Bradley J. Nelson
Advanced Intelligent System, 2019
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3D Path Planning for Flexible Needle Steering in Neurosurgery
Ayoung Hong, Quentin Boehler, Roman Moser, Ajmal Zemmar, Lennart Stieglitz, and Bradley J. Nelson
The International Journal of Medical Robotics and Computer Assisted Surgery, 2019
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2018

A Magnetically Steered Endolaser Probe for Automated Panretinal Photocoagulation
Samuel L. Charreyron, Quentin Boehler, Edoardo Gabbi, Matthias Becker, and Bradley J. Nelson
IEEE Robotics and Automation Letters, 2019
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Kinematic Analysis of Magnetic Continuum Robots Using Continuation Method and Bifurcation Analysis
Quentin Peyron, Quentin Boehler, Kanty Rabenorosoa, Bradley J. Nelson, Pierre Renaud, and Nicolas Andreff
IEEE Robotics and Automation Letters, 2018
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Design and Evaluation of a Steerable Magnetic Sheath for Cardiac Ablations
Christophe Chautems, Sean Lyttle, Quentin Boehler, and Bradley J. Nelson
IEEE Robotics and Automation Letters 3, 2018
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2017

Shared Control of a Magnetic Microcatheter for Vitreoretinal Targeted Drug Delivery
Samuel L. Charreyron, Burak Zeydan, and Bradley J. Nelson
IEEE International Conference on Robotics and Automation (ICRA), 2017
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