by Fabio Bergamin, ETH Zurich Concept and structure of magnetic soft-robotic chains (MaSoChains). a A schematic illustration of a standard MIS tool and a self-folding MaSoChain. The MaSoChains can self-fold into large assemblies at the tip of the catheter with multiple functional domains. b Potential application scenarios for MaSoChains. When pushed out of the sheathing...
