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Screw-Tip Soft Magnetically Steerable Needles:

Sperry, Adam J. ; Schwehr, Trevor J. ; Pinegar, Emma K....
IEEE Transactions on Medical Robotics and Bionics.  6 (2024)  1 - p. 4-17 , 2024
Link: https://doi.org/10.1109/tmrb.2023.3265721