@article{francesconMRIDrivenRoboticColdSnare2026, title = {Towards an {{MRI-Driven Robotic Cold-Snare System}} for {{Gastrointestinal Polyp Resection}}}, author = {Francescon, Vittorio and Murasovs, Nikita and Lloyd, Peter and May, Yael L. and Cespedes, Oscar and Chandler, James H. and Schneider, Jurgen E. and Valdastri, Pietro}, year = 2026, month = jul, journal = {Magnetic Medicine}, pages = {100075}, issn = {2950-5844}, doi = {10.1016/j.magmed.2026.100075}, urldate = {2026-07-20}, abstract = {Robotic manipulation can be applied in endoluminal interventions to enhance dexterity, ergonomics and precision. The strong background field generated by a Magnetic Resonance Imaging (MRI) scanner can be exploited to magnetise ferromagnetic objects within the scanner's workspace. Magnetic imaging gradients can then be utilised to robotically manipulate such objects. Here, we propose an MRI-actuated cold-snare mechanism for gastro-intestinal polyp removal. The mechanism features a stationary 2 mm diameter ferromagnetic sphere fixed at the base of the instrument as well as a second 2 mm diameter sphere, tethered to the instrument tip. Magnetic gradients are used to manoeuvre the tethered sphere around a polyp, at which point magnetic attraction, induced by the MRI's background field, is used to couple the two spheres. The tether is then pulled tight, resulting in a cut of the ensnared tissue. The dipole-dipole attractive force in the MRI scanner is characterised and validated indirectly utilising a linear stage and load-cell setup. The proposed device is tested in a pre-clinical MRI scanner by severing gelatine phantoms, where an average task completion time of 7 minutes and 36 seconds ~\textpm ~42.78 seconds.}, keywords = {Endoluminal Interventions,Magnetic Interaction,Magnetic Resonance Imaging,Robotics,Steerable Catheters}, }

@article{bacchettiTaperedMagneticSoft2026, title = {Tapered {{Magnetic Soft Continuum Catheters}} with {{Integrated Microchannels}} for {{Cerebral Intra-Arterial Chemotherapy Delivery}}}, author = {Bacchetti, Alistair and Lloyd, Peter and Brockdorff, Michael and Calm{\'e}, Benjamin and Davy, Joshua and Francescon, Vittorio and Murasovs, Nikita and May, Yael L. and Mathew, Ryan K. and Harris, Russell A. and Valdastri, Pietro and Chandler, James H.}, year = 2026, month = apr, journal = {Soft Robotics}, pages = {21695172261438681}, issn = {2169-5172, 2169-5180}, doi = {10.1177/21695172261438681}, urldate = {2026-04-18}, langid = {english}, }

@article{lloydConcentricTubeCatheter2026, title = {A Concentric Tube Catheter for Endoluminal Interventions, Steered and Imaged via Magnetic Resonance Imaging}, author = {Lloyd, Peter and Murasovs, Nikita and May, Yael L. and Bacchetti, Alistair and Calm{\'e}, Benjamin and Davy, Joshua and Francescon, Vittorio and Chandler, James H. and Dall'Armellina, Erica and Schneider, Jurgen E. and Valdastri, Pietro}, year = 2026, month = mar, journal = {Communications Engineering}, publisher = {Nature Publishing Group}, issn = {2731-3395}, doi = {10.1038/s44172-026-00636-1}, urldate = {2026-03-13}, copyright = {2026 The Author(s)}, langid = {english}, keywords = {Biomedical engineering,Electrical and electronic engineering,Mechanical engineering} }

@article{francescon2025closed, title={Closed-Loop Shape-Forming Control of a Magnetic Soft Continuum Robot}, author={Francescon, Vittorio and Murasovs, Nikita and Lloyd, Peter and Onaizah, Onaizah and Chathuranga, Damith Suresh and Valdastri, Pietro}, journal={IEEE Robotics and Automation Letters}, year={2025}, publisher={IEEE}}

@article{murasovs2024breathing, title={Breathing Compensation in Magnetic Robotic Bronchoscopy via Shape Forming}, author={Murasovs, Nikita and Francescon, Vittorio and Lloyd, Peter and Di Lecce, Michele and Chathuranga, Damith S and Pittiglio, Giovanni and Onaizah, Onaizah and Chandler, James H and Valdastri, Pietro}, journal={IEEE Robotics and Automation Letters}, year={2024}, publisher={IEEE} }