Nature CommunicationsMagnetically controlled microrobotic system for programmable stiffness tuning and active steering of microcathetersYuan LiuJing HuangXuhui ZhaoXi ChenLingling BaiRuirui LiMingming XuHaifeng Xu2025-12-23Full textDOI https://doi.org/10.1038/s41467-025-67638-z