Cheng Qilong, Qin Zhihao, Tai Yunhao, Lu Xingqi, Liu Guangli, Yang Runhuai, Luo Tingting
School of Biomedical Engineering, Anhui Medical University, Hefei 230032, China.
Chaohu Clinical Medical College, Anhui Medical University; The Chaohu Hospital of Anhui Medical University, Chaohu City, Anhui Province 238000, China.
ACS Biomater Sci Eng. 2025 Sep 8;11(9):5264-5284. doi: 10.1021/acsbiomaterials.5c01155. Epub 2025 Aug 5.
Microrobot swarms have attracted significant attention in the biomedical field due to their small size, flexibility, powerful functionality, and ability to collaborate to achieve complex tasks. They show great potential in targeted drug delivery and bioimaging, providing new ideas for biomedical innovation. Magnetic field-driven systems are more suitable for biomedical applications due to their contactless operation, flexible control, and penetration depth. Therefore, this paper reviews the magnetic control strategies for microrobot swarm, introduces the interaction mechanisms between magnetic fields and microrobots, and deeply explores the driving mechanisms such as magnetic torque, magnetic force, and dynamic magnetic fields. It also provides a detailed introduction to the three types of magnetic control strategies: autonomous, controllable, and hybrid. Furthermore, it clarifies the application potential of magnetic control strategies in scenarios such as drug delivery, biological sensing, and summarizes the challenges faced by microrobot swarm and their future prospects in clinical applications, thereby advancing the development of microrobot swarm in biomedical applications.
微型机器人集群因其尺寸小、灵活性高、功能强大以及能够协作完成复杂任务而在生物医学领域引起了广泛关注。它们在靶向给药和生物成像方面展现出巨大潜力，为生物医学创新提供了新思路。磁场驱动系统因其非接触操作、灵活控制和穿透深度而更适合生物医学应用。因此，本文综述了微型机器人集群的磁控策略，介绍了磁场与微型机器人之间的相互作用机制，并深入探讨了磁转矩、磁力和动态磁场等驱动机制。还详细介绍了三种磁控策略：自主式、可控式和混合式。此外，阐明了磁控策略在药物递送、生物传感等场景中的应用潜力，并总结了微型机器人集群面临的挑战及其在临床应用中的未来前景，从而推动微型机器人集群在生物医学应用中的发展。
