Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging

Magnetic fields enable remote manipulation of objects and are ideal for medical applications, as they pass through human tissue harmlessly. This capability is promising for surgical robots, allowing navigation deeper into the human anatomy and accessing organs beyond the reach of current technologies. However, magnetic manipulation is typically limited to a maximum of two Degrees-of-freedom orientation, restricting complex motions, especially those including rolling around the main axis of the magnetic robot. To address this challenge, we introduce a robot design inspired by embodied intelligence and the unique geometry of developable rollers, leveraging the oloid shape. The oloid, with its axial asymmetry and sinusoidal motion, facilitates rolling when precisely controlled by an external magnetic field. We present a versatile closed-loop control model to ensure precise magnetic manipulation of an oloid-shaped robot. This capability was validated in endoluminal applications through the ..., , , # Data from: Harnessing the Oloid Shape in Magnetically Driven Robots to Enable High Resolution Ultrasound Imaging

[https://doi.org/10.5061/dryad.t1g1jwtbx](https://doi.org/10.5061/dryad.t1g1jwtbx)

## Description of the data and file structure

This repository contains the supplementary data for the paper **Harnessing the Oloid Shape in Magnetically Driven Robots to Enable High Resolution Ultrasound Imaging**. The materials are organized into folders based on experiments related to 3D reconstruction, degree of freedom (DOF) comparison, in vivo roll/sweep experiments, and open-loop roll testing. All experimental details and other experimental data can be found in the paper. Below is an overview of the folder structure and descriptions of the files.

### **Instructions for Use**

* **`.bag` Files**: These files can be opened and analyzed using ROS (Robot Operating System) tools such as `rqt` or in MATLAB using the `ROS TOOLBOX`.
* **Video Files**: All videos are in `.avi` or `.mp4` form...,