Fig. 9From: Improving guidewire-mediated steerability of a magnetically actuated flexible microrobotTracking of the flexible microrobot in a two-dimensional phantom with various branches. a, c magnetic steering at 45°; b, d manual rectilinear motion imparted by pushing the guidewire; e, g magnetic steering at 80°; and f, g manual rectilinear motion imparted by pushing the guidewire. Additional file 1 shows the trackingBack to article page