We Program

soft microrobots
using focused light

We Control

systems for precise actuation

in neurosurgery

We Design

microgrippers at the

single cell scale

We Build

new tools for

neurosurgery

Publications

Journal Articles

  1. V. Iacovacci, E. Diller, D. Ahmed, and A. Menciassi, “Medical Microrobots,” Annual Review of Biomedical Engineering, vol. 26, 2024. link. pdf.
  2. A. Schonewille, C. He, C. Forbrigger, N. Wu, J. Drake, T. Looi, and E. Diller, “Electromagnets Under the Table: an Unobtrusive Magnetic Navigation System for Microsurgery,” IEEE Transactions on Medical Robotics and Bionics, 2024. (accepted) pdf.
  3. M. Naik and E. Diller, “Object Rotation and Translation for Serial Planar Acoustic Microassembly,” IEEE/ASME Transactions on Mechatronics, 2024. link. pdf. 
  4. Y.P. Lai, Z. Li, H. Naguib, and E. Diller, “Hybrid Hydrogel-Magnet Actuators with pH-responsive Hydrogels for Gastrointestinal Microrobots,” Advanced Engineering Materials, 2023. link. pdf.
  5. A. Aubeeluck, C. Forbrigger, S. M. Taromsari, T. Chen, E. Diller, and H. E. Naguib, “Screen-Printed Resistive Tactile Sensor for Monitoring Tissue Interaction Forces on a Surgical Magnetic Microgripper”, ACS Applied Materials & Interfaces, 2023. link. pdf.
  6. Z. Li, Y. P. Lai, and E. Diller, “3D Printing of Multi-layer Magnetic Miniature Soft Robots with Programmable Magnetization”, Advanced Intelligent Systems, 2023. link. pdf.
  7. P. Rao, C. Pogue, Q. Peyron, E. Diller, and J. Burgner-Kahrs, “Modeling and Analysis of Tendon-driven Continuum Robots for Rod-based Locking,” Robotics and Automation Letters, doi:10.1109/LRA.2023.3264869, 2023. link. pdf. 
  8. X. Liu, D. Esser, B. Wagstaff, A. Zavodni, N.Matsuura, J. Kelly, and E. Diller. Capsule robot pose and mechanism state detection in ultrasound using attention-based hierarchical deep learning. Sci Rep 12, 21130, 2022. link  pdf.
  9. M. Nica, C. Forbrigger, and E. Diller, “A Novel Magnetic Transmission for Powerful Miniature Surgical Robots,” in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 5541-5550, Dec. 2022, doi: 10.1109/TMECH.2022.3184599. link  pdf.
  10. J. Nam, Y. P. Lai, L. Gauthier, G. Jang, and E. Diller, “Resonance-Based Design of Wireless Magnetic Capsule for Effective Sampling of Microbiome in Gastrointestinal Tract,” Sensors and Actuators A: Physical, vol. 242, no. 113654, 2022. pdf. link.
  11. E. Diller, “Non-Magnetic Objects Induced to Move by Electromagnets,” Nature, 2021. link. (This is a “News and Views” article)
  12. M. Salehizadeh and E. Diller, “Path Planning and Tracking for an Underactuated Two-Microrobot System”, IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2674-2681, 2021 (also presented at ICRA2021). pdf. link. presentation video
  13. P. Shokrollahi, Y.P. Lai, S. Rash-Ahmadi, V. Stewart, M. Mohammadigheisar, L. Huber, N. Matsuura, A. Zavodni, J. Parkinson, and E. Diller, “Blindly Controlled Magnetically Actuated Capsule for Noninvasive Sampling of the Gastrointestinal Microbiome,” IEEE/ASME Transactions on Mechatronics, vol. 26, no. 5, 2021 (winner of the 2021 IEEE/ASME Transactions on Mechatronics Best Paper Award). pdf. link.
  14. S. Salmanipour, O. Youssefi, and E. Diller, “Design of Multi-Degree-of-Freedom Microrobots Driven by Homogenous Quasi-Static Magnetic Fields,” IEEE Transactions on Robotics, vol. 37, no. 1, pp. 246 – 256, 2021. pdf. link
  15. M. Salehizadeh and E. Diller, “Three Dimensional Independent Control of Multiple Magnetic Microrobots via Inter-Agent Forces,” International Journal of Robotics Research, vol. 39, no. 12, pp. 1377-1396, 2021. pdf. link. video
  16. A. Lim, A. Schonewille, C. Forbrigger, T. Looi, J. Drake, and E. Diller, “Design and Comparison of Magnetically-Actuated Dexterous Forceps Instruments for Neuroendoscopy,” IEEE Transactions on Biomedical Engineering, vol. 68, no. 5, pp. 4415-4425, 2021. pdf. link
  17. T. Chen, Z. Saadatnia, J. Kim, T. Looi, J. Drake, E. Diller, and H. Naguib, “Novel, Flexible and Ultra-thin Pressure Feedback Sensor for Miniaturized Intra-ventricular Neurosurgery Robotic Tools,” IEEE Transactions on Industrial Electronics, vol. 68, no. 5, 2021. link
  18. O. Onaizah, L. Xu, K. Middleton, L. You, and E. Diller, “Local Stimulation of Osteocytes Using a Magnetically Actuated Oscillating Beam,” PLOS One, vol. 15, no. 6, e0235366, 2020. link
  19. J. Abbott, E. Diller, and A. Petruska, “Magnetic Methods in Robotics,” Annual Reviews: Control, Robotics, and Autonomous Systems, vol.3, pp. 57-90, 2020. link
  20. S. Sabetian, T. Looi, E. Diller and J. Drake, “Self-Collision Detection and Avoidance for Dual-Arm Concentric Tube Robots,” Robotics and Automation Letters (published online before print), 2020. link
  21. T. Xu, J. Zhang, M. Salehizadeh, O. Onaizah, and E. Diller, “Millimeter-Scale Flexible Robots with Programmable Three-Dimensional Magnetization and Motions,” Science Robotics, vol. 4, eaav4494 , 2019. link to pdf
  22. C. Forbrigger, A. Lim, O. Onaizah, S. Salmanipour, T. Looi, J. Drake, and E. Diller, “Cable-less, Magnetically-Driven Forceps for Minimally Invasive Surgery,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1202–1207, 2019. pdf link
  23. O. Youssefi and E. Diller, “Contactless Robotic Micromanipulation in Air Using a Magneto-acoustic System,” IEEE Robotics and Automation Letters, vol. 4, no. 2, 2019. pdf link
  24. D. Podolsky, E. Diller, D. Fisher, K. Wong, T. Looi, J. Drake, C. Forrest, “Dexterous 3-DOF Surgical Wrist for Compact Articulation Using Cable Guide Channels”, ASME Journal of Mechanical Design, vol. 13, no. 1, p. 011003, 2018. link
  25. J. Zhang, and E. Diller, “Untethered miniature soft robots: Modeling and design of a millimeter-scale swimming magnetic sheet”, Soft Robotics, vol. 5, no. 6, 2018. pdf link
  26. K. Choi, M. Salehizadeh, R.B. Da Silva, N. Hakimi, E. Diller, and D.K. Hwang , “3D shape evolution of microparticles and 3D enabled applications using non-uniform UV flow lithography (NUFL)”, Soft Matter, vol. 13, no. 40, pp. 7255-7263, 2017. link
  27. J. Zhang, O. Onaizah, A. Sadri, and E. Diller, “A Generic Label-Free Microfluidic Microobject Sorter Using a Magnetic Elastic Diverter”, Biomedical Microdevices, vol. 19, no. 2, pp. 43, 2017. pdf, link
  28. M. Salehizadeh and E. Diller, “Two-Agent Formation Control of Magnetic Microrobots in Two Dimensions”, Journal of Micro-Bio Robotics, vol. 12, no. 1, 9-19, 2017. pdf link
  29. J. Zhang, O. Onaizah, K. Middleton, L. You, and E. Diller, “Reliable Grasping of Three-Dimensional Untethered Mobile Magnetic Microgripper for Autonomous Pick-and-Place”, IEEE Robotics and Automation Letters, vol. 2, issue 2, pp. 835-840, 2017. pdf link vid
  30. P. Ryan and E. Diller, “Magnetic Actuation for Full Dexterity Micro-Robotic Control Using Rotating Permanent Magnets” IEEE Transactions on Robotics, vol. 33, no. 6, pp. 1398-1409, 2017 . link pdf
  31. Z. Li and E. Diller, “Polymer Filament Based in-Situ Microrobot Fabrication Using Magnetic Guidance,” International Journal of Advanced Robotic Systems. vol. 14, issue 1, 2017. pdf link
  32. J. Zhang and E. Diller, “Tetherless mobile micrograsping using a magnetic elastic composite material,” Smart Materials and Structures, vol. 25, no. 11, 11LT03 2016. pdf link
  33. J. Giltinan, E. Diller, and M. Sitti, “Programmable Assembly of Heterogeneous Microparts by an Untethered Mobile Capillary Microgripper,” Lab on a Chip, vol. 16, pp. 4445-4457, 2016 link.
  34. E. Diller, J. Giltinan, G. Lum, Z. Ye, and M. Sitti, “Six-Degree-of-Freedom Magnetic Actuation for Wireless Microrobotics,” International Journal of Robotics Research, vol. 35, no. 1, pp. 114-128, 2016 link pdf.
  35. M. Sitti, H. Ceylan, W. Hu, J. Giltinan, M. Turan, S. Yim, and E. Diller, “Biomedical Applications of Untethered Mobile Milli/Micro-Robots,” Proceedings of the IEEE , vol. 103, no. 2, pp. 205-224, 2015. link pdf.
  36. E. Diller*, J. Zhuang*, G. Lum, M. Edwards, and M. Sitti, “Continuously Distributed Magnetization Profile for Millimeter-Scale Elastomeric Undulatory Swimming,” Applied Physics Letters, vol. 104, no. 174101, 2014. *equally contributing authors. pdf. link.
  37. E. Diller and M. Sitti, “Three-Dimensional Programmable Assembly by Untethered Magnetic Robotic Micro-Grippers,” Advanced Functional Materials, vol. 24, no. 28, pp. 4397-4404, 2014. link pdf.
  38. L. Palmer, E. Diller, and R. Quinn, “Distributed Inward Gripping: A Gravity-Independent Attachement Strategy for Complex Climbing Maneuvers,” IEEE Transactions on Mechatronics, vol. 20, no. 2, pp. 631-640. link. pdf.
  39. S. Tasoglu*, E. Diller*, S. Guven, M. Sitti, and U. Demirci, “Untethered Micro-Robotic Coding of Three-Dimensional Material Composition,” Nature Communications, vol. 5, no. 3124, 2014. *equally contributing authors. link. pdf.
  40. E. Diller, N. Zhang, and M. Sitti, “Modular micro-robotic assembly through magnetic actuation and thermal bonding,” Journal of Micro-Bio Robotics,  vol. 8, no. 3, pp. 121-131, 2013. link pdf.
  41. E. Diller and M. Sitti, “Micro-Scale Mobile Robotics,” Foundations and Trends in Robotics, vol. 2, no. 3, pp. 143-259, 2013. pdf. link.
  42. E. Diller, J. Giltinan and M. Sitti, “Independent Control of Multiple Magnetic Microrobots in Three Dimensions,” International Journal of Robotics Research, vol. 32, no. 5, pp. 614-631, 2013. pdf. link.
  43. S. Miyashita, E. Diller and M. Sitti, “Two-Dimensional Magnetic Micro-Module Reconfigurations Based on Inter-Modular Interactions,” International Journal of Robotics Research, vol. 32, no. 5, pp. 591-613, 2013. link pdf.
  44. Z. Ye, E. Diller and M. Sitti, “Micro-Manipulation Using Rotational Fluid Flows Induced by Wireless Magnetic Micro-Manipulators,” Journal of Applied Physics,  vol. 112, no. 6, 064912, 2012. pdf. link.
  45. D. Kim, A. Liu, E. Diller and M. Sitti, “Chemotactic Steering of Bacteria Propelled Microbeads,” Biomedical Microdevices, vol. 14, no. 6, pp. 1009-1017, 2012. link. pdf.
  46. E. Diller, S. Miyashita and M. Sitti, “Remotely Addressable Magnetic Composite Micropumps,” RSC Advances, vol. 2, no. 9, pp. 3850-3856, 2012. link. pdf.
  47. E. Diller, S. Floyd, C. Pawashe, and M. Sitti, ”Control of Multiple Heterogeneous Magnetic Micro-Robots in Two Dimensions,” IEEE Transactions on Robotics, vol. 28, 172-182, 2012. pdf. link.
  48. C. Pawashe, S. Floyd, E. Diller, and M. Sitti, ”Two-Dimensional Autonomous Micro-Particle Manipulation Strategies for Magnetic Micro-Robots in Fluidic Environments,” IEEE Transactions on Robotics, vol. 28, 467-477, 2012. pdf. link.
  49. E. Diller, C. Pawashe, S. Floyd, and M. Sitti, ”Assembly and Disassembly of Magnetic Mobile Micro-Robots towards Deterministic 2-D Reconfigurable Micro-Systems,” International Journal of Robotics Research, vol 31, 1667-1680, 2011. pdf. link.
  50. S. Floyd, E. Diller, C. Pawashe, and M. Sitti, ”Control Methodologies for a Heterogeneous Group of Untethered Magnetic Micro-Robots,” International Journal of Robotics Research, vol. 30, 1553-1565, 2011. pdf. link.

Refereed Conference Articles

  1. Z. Li and E. Diller, “3D Printed Untethered Magnetic Bulb for Liquid Biopsy and Drug Delivery,” International Conference on Manipulation, Automation and Robotics at Small Scales, 2024. (to appear)
  2. H. Mayer, J. Drake, E. Diller, and T. Looi, “Compact Magnetic Twisted String Actuated Forceps for Stronger Robot-Assisted Neuroendoscopy,” Hamlyn Symposium on Medical Robotics, 2024. (to appear)
  3. E. Fredin, N. Pol, A. Zaliznyi, E. Diller, and L. Kahrs, “Estimating the Joint Angles of an Articulated Microrobotic Instrument using Optical Coherence Tomography,” International Symposium on Medical Robotics, 2024. (to appear)
  4. C. He, R. Nguyen,  E. Diller, J. Drake, and T. Looi, “dVRK-based teleoperation of a CTR robot with stereovision feedback for neurosurgery”, Hamlyn Symposium on Medical Robotics 2023 (to appear). pdf.
  5. C. Forbrigger, E. Friden, E. Diller, “Evaluating the Feasibility of Magnetic Tools for the Minimum Dynamic Requirements of Microneurosurgery”, IEEE International Conference on Robotics and Automation, 2023. pdf. link.
  6. C. He, R. Nguyen, C. Forbrigger, J. Drake, T. Looi, and E. Diller, “A Hybrid Steerable Robot with Magnetic Wrist for Minimally Invasive Epilepsy Surgery”, IEEE International Conference on Robotics and Automation, 2023. pdf. video. link.
  7. C. Pogue, P. Rao, Q. Peyron, J. Kim, J. Burgner-Kahrs, and E. Diller, “Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism,” International Conference on Intelligent Robots and Systems, 2023. link.
  8. N. Wu, T. Looi, J. Drake, and E. Diller, “Eddy Current Damping of Magnetically Actuated Neurosurgical Instruments,” International Conference on Manipulation, Automation and Robotics at Small Scales, 2022. pdf. link.
  9. Z. Bao and E. Diller, “Evaluating Miniature Robot Surgical Scissors,” International Conference on Manipulation, Automation and Robotics at Small Scales, 2022. pdf. link.
  10. Z. Li and E. Diller, “Multi-material Fabrication for Magnetically Driven Miniature Soft Robots Using Stereolithography,” International Conference on Manipulation, Automation and Robotics at Small Scales, 2022. pdf. link.
  11. C. Forbrigger, A. Schonewille, and E. Diller, “A Miniature Magnetic Robot with Tailored Magnetic Torsion Springs,” IEEE Int. Conf. on Robotics and Automation, 2021. pdf. presentation video.
  12. M. Salehizadeh*, Zhaoxin Li*, and E. Diller, “Independent Position Control of Two Magnetic Microrobots via Rotating Magnetic Field in Two Dimensions,” Int. Conf. on Manipulation, Automation and Robotics at Small Scales, 2019. (finalist for Best Paper award) pdf. link. video
  13. O. Onaizah and E. Diller, “Tetherless Mobile Micro-Surgical Scissors Using Magnetic Actuation,” IEEE Int. Conf. on Robotics and Automation, pp. 894-899, 2019. pdf. link.
  14. O. Youssefi and E. Diller, “Dry Surface Micromanipulation Using An Untethered And Magnetic Microrobot,” in Progress in Canadian Mechanical Engineering, 2018. pdf link
  15. A. Lim, S. Salmanipour, O. Onaizah, C. Forbrigger, T. Looi, J. Drake, and E. Diller, “A Miniature Wirelessly Actuated Magnetic Surgical Tool for Minimally Invasive Grasping,” Hamlyn Symposium on Medical Robotics, pp. 11-12, 2018. pdf.
  16. S. Sabetian, T. Looi, E. Diller and J. Drake, Self-Collision Detection for Dual Arm Concentric Tube Robots,” Hamlyn Symposium on Medical Robotics, 2018.
  17. T. Xu and E. Diller, “Characterization of Patterned Flexible Permanent Magnet Composites for Microrobotics,” Int. Conf. on Manipulation, Automation and Robotics at Small Scales, 2018.
  18. S. Salmanipour and E. Diller, “Eight-Degrees-of-Freedom Remote Actuation of Small Magnetic Mechanisms,” IEEE Int. Conf. on Robotics and Automation, 2018. pdf link
  19. J. Zhang*, M. Salehizadeh* and E. Diller, “Parallel Pick and Place Using Two Independent Untethered Mobile Magnetic Microgrippers,” IEEE Int. Conf. on Robotics and Automation, 2018. *equally contributing authors. pdf link
  20. M. Salehizadeh and E. Diller, “Optimization-Based Formation Control of Underactuated Magnetic Microrobots via Inter-Agent Forces,” Int. Conf. on Manipulation, Automation and Robotics at Small Scales, 2017. (Best Student Paper award winner) pdf, link
  21. J. Zhang, O. Onaizah, K. Middleton, L. You, and E. Diller, “Reliable Grasping of Three-Dimensional Untethered Mobile Magnetic Microgripper for Autonomous Pick-and-Place”, IEEE Int. Conf. on Robotics and Automation, 2017 (published on RA-L and presented at ICRA 2017). pdf
  22. Z. Li, O. Youssefi and E. Diller, “Magnetically-Guided in-Situ Microrobot link Fabrication,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2016. pdf link
  23. M. Salehizadeh and E. Diller, “Two-Agent Formation Control of Magnetic Microrobots,” Int. Conf. on Manipulation, Automation and Robotics at Small Scales, 2016). (finalist for Best Paper award). link. pdf
  24. P. Ryan and E. Diller, “Five-Degree-of-Freedom Magnetic Control of Micro-Robots Using Rotating Permanent Magnets,” IEEE Int. Conf. on Robotics and Automation, 2016. link. pdf.
  25. J. Zhang, P. Jain, and E. Diller, “Independent Control of Two Millimeter-Scale Soft-Bodied Magnetic Robotic Swimmers,” IEEE Int. Conf. on Robotics and Automation, 2016. link. pdf.
  26. J. Zhang and E. Diller, “Millimeter-Scale Magnetic Swimmers Using Elastomeric Undulations,” IEEE Int. Conf. on Intelligent Robots and Systems, 2015. link. pdf.
  27. E. Diller, J. Giltinan, G. Lum, Z. Ye, and M. Sitti, “Six-Degrees-of-Freedom Remote Actuation of Magnetic Microrobots,” Robotics: Science and Systems, 2014 (finalist for Best Paper award). link. pdf.
  28. J. Giltinan, E. Diller, and M. Sitti, “Three-Dimensional Manipulation of Micro-Objects Using an Untethered Mobile Magnetic Robotic Capillary Micro-Gripper,” IEEE Conf. on Robotics and Automation, Hong Kong, 2014, pp. 2077 – 2082. link.
  29. G. Lum, E. Diller, and M. Sitti, “Structural Optimization Method for Synthesis of Micro-Scale Mobile Micro-grippers,” IEEE Conf. on Robotics and Automation, 2014, pp. 2339-2344. link
  30. E. Diller, J. Giltinan, P. Jena, and M. Sitti, “Three Dimensional Independent Control of Multiple Magnetic Microrobots,” IEEE Conf. on Robotics and Automation, 2013, pp. 2561-2566. link.
  31. E. Diller, N. Zhang and M. Sitti, “Bonding Methods for Modular Micro-Robot Assemblies,” IEEE Conf. on Robotics and Automation, 2013, pp. 2573-2578.
  32. E. Diller, S. Miyashita and M. Sitti, “Magnetic Hysteresis for Multi-State Addressable Magnetic Microrobotic Control”,  Int. Conf. on Intelligent Robots and Systems,  pp. 2325-2331, 2012.
  33. E. Diller, Z. Ye and M. Sitti, “Rotating Magnetic Micro-Robots for Versatile Non-Contact Fluidic Manipulation of Micro-Objects” invited paper, Int. Conf. on Intelligent Robots and Systems, San Fransisco, pp. 1291 – 1296, 2011.
  34. J. Singleton, E. Diller, T. Anderson, S. Regnier and M. Sitti, “Micro-Scale Propulsion using Multiple Flexible Artificial Flagella” invited paper, Int. Conf. on Intelligent Robots and Systems, San Fransisco, pp. 1687-1692, 2011.
  35. C. Pawashe, E. Diller, S. Floyd, and M. Sitti, ”Assembly and Disassembly Methods for Magnetic Micro-Robots towards 2-D Reconfigurable Micro-Systems,” IEEE Conf. on Robotics and Automation, Shanghai, China, pp. 261-266, 2011.
  36. E. Diller, S. Floyd, C. Pawashe, and M. Sitti, ”Control of Multiple Heterogeneous Magnetic Micro-Robots on Non-Specialized Surfaces,” IEEE Conf. on Robotics and Automation, invited paper, Shanghai, China, pp. 115-120, 2011.
  37. L. Palmer III, E. Diller, R. Quinn. “Toward a Rapid and Robust Attachment Strategy for Vertical Climbing,” IEEE Conference on Robotics and Automation, Anchorage, pp. 2810 – 2815, 2010.
  38. L. Palmer III, E. Diller, R. Quinn. “Design of a Wall-Climbing Hexapod for Advanced Maneuvers,” Int. Conf. on Intelligent Robots and Systems, St. Louis, pp. 625 – 630, 2009.
  39. L. Palmer III, E. Diller, R. Quinn “Design Aspects of a Climbing Hexapod,” Int. Conf. on Climbing and Walking Robots, Istanbul, Turkey, pp. 197-204, 2009.
  40. G. Wile, K. Daltorio, E. Diller, L. Palmer, S. Gorb, R. Ritzmann, and R. Quinn “Screenbot: Walking Inverted Using Distributed Inward Gripping,” Int. Conf. on Intelligent Robots and Systems, Nice, France, pp. 1513 – 1518, 2008.

Other Conference Articles

  1. J. Giltinan, E. Diller and M. Sitti, “Analysis of a Mobile Capillary Microgripper”, Conference on Multiscale Applications of Surface Tension, 2016.
  2. P. Jena, E. Diller, J. Giltinan and M. Sitti, “Neutrally Buoyant Microrobots for Enhanced 3D Control”, Int. Conf. on Intelligent Robots and Systems, workshop on Magnetically Actuated Multiscale Medical Robots, 2012.
  3. R.D. Quinn, A. Boxerbaum, L. Palmer, H. Chiel, E. Diller, A. Hunt, R. Bachmann, “Novel Locomotion via Biological Inspiration” Proc. SPIE, 804511, 2011.

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