Until now, the potential of untethered magneticrobots (UMRs), propelled by external time-periodic magneticfields, has been hindered by the limitations of wireless manipulation systems or noninvasive imaging techniques combined. The need for simultaneous actuation and noninvasive localization imposes a strict constraint on both functionalities. This study addresses this challenge by substantiating the feasibility through experimental validation, showcasing the direct teleoperation of UMRs within a fluid-filled lumen. This teleoperation capability is facilitated by a scalable X-ray-guided robotic platform, extendable to match the dimensions required for in vivo applications, marking a noteworthy advancement. Ourmethodology is demonstrated by teleoperating a 12-mm-longscrew-shaped UMR (5 mm in diameter) within a bifurcatedlumen, filled with blood. This navigation is achieved usingcontrolled rotating magnetic fields, guided by real-time XrayFluoroscopy images. Incorporating a two-degree-of-freedomcontrol system, we demonstrate the operator’s capability to useX-ray Fluoroscopy images to keep the UMR coupled with theexternal field during wireless teleoperations, resulting in a success rate of 76.6% when moving along the intended pathways,with a mean absolute position error of 1.6 ± 2.1 mm
