Ultrasound Doppler-guided real-time navigation of a magnetic microswarm for active endovascular delivery

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Science Advances  26 Feb 2021:
Vol. 7, no. 9, eabe5914
DOI: 10.1126/sciadv.abe5914

Article Information

vol. 7 no. 9

Online ISSN: 
  • Received for publication September 2, 2020
  • Accepted for publication January 12, 2021
  • .

Author Information

  1. Qianqian Wang1,
  2. Kai Fung Chan2,3,
  3. Kathrin Schweizer1,4,
  4. Xingzhou Du1,3,
  5. Dongdong Jin1,3,
  6. Simon Chun Ho Yu5,
  7. Bradley J. Nelson4 and
  8. Li Zhang1,2,6,*
  1. 1Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Shatin, NT, Hong Kong, China.
  2. 2Chow Yuk Ho Technology Centre for Innovative Medicine, CUHK, Shatin, NT, Hong Kong, China.
  3. 3Department of Biomedical Engineering, CUHK, Shatin, NT, Hong Kong, China.
  4. 4Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland.
  5. 5Department of Imaging and Interventional Radiology, CUHK, Shatin, NT, Hong Kong, China.
  6. 6CUHK T Stone Robotics Institute, CUHK, Shatin, NT, Hong Kong, China.
  1. *Corresponding author. Email: lizhang{at}


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