DOI: 10.5061/dryad.t1g1jwtbx
title: Data from: Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging

description: 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
 integration of a 28 MHz micro-ultrasound array to perform virtual biopsies
 – non-invasive real-time histological imaging. Extensive in vitro and in
 vivo tests using a porcine model showed the robot's ability
 to execute sweeping motions, identify lesions, and generate detailed 3D
 scans of gastrointestinal subsurface tissue. This research not
 only restores a critical movement capability to magnetic medical
 robots but also enables additional clinical applications
 deep within the human body.
description: # 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` format and can be played using any standard video player (e.g., VLC, Windows Media Player). * **Excel Files**: The `.xlsx` files can be opened with Microsoft Excel or any compatible spreadsheet software. ### **Contact Information** For any questions or further clarifications, please contact the corresponding author of the paper. ### Files and variables #### File: MiniMag-miniOMD.mp4 **Description:** Video showing mini-OMD oloid rolling in the MiniMag electromagnetic coil system. #### File: DOF\_comparison.zip **Description:** **DOF Comparison** This folder contains video footage with live Euler angle graphs comparing the degrees of freedom (DOF) of the system under different conditions. Naming convention: `[Endoscope Type]-[Movement Type]-[Direction]_[Timestamp]_.avi` #### File: 3D\_Reconstruction.zip **Description:** **3D Reconstruction** This folder contains data related to the 3D reconstruction experiments. * **Motorised_sweep**: Contains data from the motorized roll experiments. * **Motor_position**: The motor positions captured during the roll in .csv format. * **US_frames**: The ultrasound frames recorded during the experiments as `.jpg` and `.mat` files. A combined `.avi` file is also included.   * **OMESweep**: Includes `.bag` files from robotic OME sweep experiments in both benchtop and in vivo scenarios and a Topics*overview.txt file with a list of available ROS topics in the `.bag` files. Naming convention: `[Environment]_[Condition]_[TrialNumber].bag` #### File: In\_vivo\_-\_roll\_sweep.zip **Description:** **In Vivo - Roll Sweep** This folder contains in vivo roll sweep experiments, including `.bag` files, endoscopic videos, and synced demonstration videos. * **Bags**: `.bag` files from the roll and sweep experiments. Naming convention: `[Bag number]_[Timestamp].bag` * **Endoscope Videos**: Videos captured during roll and sweep experiments. Naming convention: `[Motion]_[Timestamp].mp4` * **In_vivo_roll_sweep.xlsx**: Excel file matching names and times of interest for the in vivo roll and sweep experiments. * **Combined Videos:** `.mp4` files combining the orientation data with the endoscope videos. Naming convention: `[Motion]_[Timestamp].mp4` #### File: Open\_loop\_roll.zip **Description:** **Open Loop Experiments** This folder contains videos from the open-loop roll experiments on different surfaces. Naming convention: `[Surface]_[Timestamp].mp4` * **Bumpy_Foam**: Videos from bumpy foam surface experiments. * **Flat_Foam**: Videos from flat foam surface experiments. * **Perspex**: Videos from perspex surface experiments. * **Silicone**: Videos from silicone surface experiments. * **Silicone Additional:** Videos from silicone surface experiments (360). ## Code/software #### File: Oloid\_development.m **Description:** MATLAB script to apply a transformation to a single point using Theorem 4 to handle the full transformation for the oloid geometry. #### File: Parametric\_Oloid\_Surface.m **Description:** MATLAB Script to plot the oloid shape based on parametric equations. #### File: Theorem4\_sym.m **Description:** MATLAB Script with function for Theorem 4 from the paper by Dirnbock and Stachel (1997), "The Development of the Oloid" to generate the transformation matrices for the oloid's motion.