Microrobotic systems and methods for endovascular interventions

A method for steering a robotic surgical tool, the method comprising:

• acquiring, by a computing device, sensor data indicating a current position of the robotic surgical tool within a tubular passageway, wherein the robotic surgical tool comprises an elongated, flexible, steerable cannula that includes multiple expansion-flexion microrobotic (EFMR) cannulation units (CUs) that are configured to be selectively stiffened or softened using non-Newtonian fluid compression;
• determining, by the computing device, the current position of the robotic surgical tool along X & Z planar axes and Y & Z planar axes of the tubular passageway and center positions of the tubular passageway along the X & Z planar axes and the Y & Z planar axes;
• computing, by the computing device, motion angle commands that will steer the robotic surgical tool at a constant speed forward through the tubular passageway along a Z axes;
• and
• sending, by the computing device, the motion angle commands to a controller for the robotic surgical tool.