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A surgical micro-robot that swims inside the human ureter is proposed to provide a novel and minimally invasive method of kidney stone destruction. Inspired by the swimming mechanisms of bacteria such as E. coli, the robot utilizes biomimetic synthetic flagella composed of multiwalled carbon nanotubes that are driven into a rotating helical shape by a micro motor. Design aspects are discussed with the focus on locomotion. The performance of the propulsion mechanism is determined throughdoi:10.1109/iros.2003.1249259 dblp:conf/iros/EddPRSS03 fatcat:ld6rtnzqvbfvliluncmjsnme6e