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ophthalmology magnetic-catheters medical-robotics continuum-robots kinematics endolaser diabetic-retinopathy deep-brain-stimulation magnetic-needle path-planning neurosurgery variable-stiffness magnetic-quadrupole magnetic-assembly subretinal cilia metachronal-waves particle-transport remote-magnetic-navigation emns machine-learning soft-robotics fetal-surgery spina-bifida magnetic-catheter conductive-polymer concentric-tubes localization simulation microtubule workspace gradiometer laser-ablation ttts visual-servoing