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We propose a class of robotic neurosurgical tools that have magnetically actuated wristed end effectors small enough to fit through a neuroendoscope working channel. The tools were less than 3.2 millimeters in overall diameter and contained embedded permanent magnets that allowed wireless actuation with magnetic fields. Three magnetic tools are presented: a two\u2013degrees-of-freedom (DoFs) wristed gripper, a one-DoF pivoting scalpel, and a one-DoF twisted string\u2013actuated forceps. This work evaluated the feasibility of these tools for completing minimally invasive neurosurgical resection and cutting tasks. Experimental tests on a silicone brain phantom showed that the tools could reach the ventricle area for simulated tumor removal and access a section of the corpus callosotomy for a simulated tissue-severing procedure in epilepsy treatment. Integration of the magnetic end effectors with a concentric tube robot as a hybrid steerable surgical robotic system enabled in vivo experiments on piglets. These experiments show that wireless magnetic tools could perform essential neurosurgical tasks, including gripping, cutting, and biopsy on living brain tissue, suggesting their potential for clinical applications.<\/jats:p>","DOI":"10.1126\/scirobotics.adk4249","type":"journal-article","created":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T19:03:02Z","timestamp":1743015782000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":16,"title":["Magnetically actuated dexterous tools for minimally invasive operation inside the brain"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2540-3848","authenticated-orcid":true,"given":"Changyan","family":"He","sequence":"first","affiliation":[{"name":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada."},{"name":"PCIGITI Center, Hospital for Sick Children, Toronto, Canada."}]},{"given":"Robert","family":"Nguyen","sequence":"additional","affiliation":[{"name":"PCIGITI Center, Hospital for Sick Children, Toronto, Canada."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8026-9215","authenticated-orcid":true,"given":"Haley","family":"Mayer","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada."},{"name":"PCIGITI Center, Hospital for Sick Children, Toronto, Canada."},{"name":"Robotics Institute, University of Toronto, Toronto, Canada."}]},{"given":"Lingbo","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Engineering, University of Newcastle, Newcastle, Australia."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2375-3318","authenticated-orcid":true,"given":"Paul","family":"Kang","sequence":"additional","affiliation":[{"name":"PCIGITI Center, Hospital for Sick Children, Toronto, Canada."},{"name":"Institute of Biomedical Engineering, University of Toronto, Toronto, Canada."}]},{"given":"D. Anastasia","family":"Aubeeluck","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6684-9443","authenticated-orcid":true,"given":"Grace","family":"Thiong\u2019\u1d0f","sequence":"additional","affiliation":[{"name":"PCIGITI Center, Hospital for Sick Children, Toronto, Canada."}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-0753-2126","authenticated-orcid":true,"given":"Erik","family":"Fredin","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6841-9025","authenticated-orcid":true,"given":"James","family":"Drake","sequence":"additional","affiliation":[{"name":"PCIGITI Center, Hospital for Sick Children, Toronto, Canada."}]},{"given":"Thomas","family":"Looi","sequence":"additional","affiliation":[{"name":"PCIGITI Center, Hospital for Sick Children, Toronto, Canada."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4627-0797","authenticated-orcid":true,"given":"Eric","family":"Diller","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada."},{"name":"Robotics Institute, University of Toronto, Toronto, Canada."},{"name":"Institute of Biomedical Engineering, University of Toronto, Toronto, Canada."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","unstructured":"K. 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