Fish Swing Biomimetic Magnetically Controlled Microrobot

Inspired by the swing propulsion of fish, this paper presents a rod-shaped microrobot consisting of a magnetic head, a magnetic tail, and a flexible body. The proposed microrobots can move with great stability and precision, producing fish-like swing motions driven by an external oscillating magnetic field. Microrobots can achieve precisely targeted motion along predetermined trajectories, showing the potential for future in vivo targeted therapy. In addition, we also designed a mechanical-electromagnetic hybrid actuation system suitable for rod-shaped microrobot driving. The simple structure and novel design of the system not only provide the required magnetic field for the microrobot but also benefit the microrobot rotation. The newly designed microrobot and the magnetic actuation system provide a new way for the development of magnetic microrobot.