Untethered Magnetic Robots (UMRs) represent a promising approach for navigating within the human body to access and treat tumours. When a UMR becomes too large for a blood vessel, it must transition into the surrounding soft tissue.
To investigate this transition, a phantom setup is used to evaluate the performance of various UMR designs. Key design parameters, such as helix angle, pitch, thread height, and number of threads, are studied to determine their influence on transition speed.
Additionally, drilling experiments are performed in ex vivo sheep liver and brain tissue to assess performance in more biologically relevant environments.