Untethered magnetic robots (UMRs) are a promising tool for minimally invasive surgical procedures deep within soft tissues such as the brain.
In this presentation, I will introduce a magnetic control system that enables 3D locomotion of UMRs in soft, tissue-like media. Using an empirical, dimensionless model, we predict how robot design, magnetic torque, and tissue stiffness influence performance. Experiments in gelatin phantoms and perfused ex-vivo brain tissue validate the model. In addition, a closed-loop control strategy combining vertical and lateral feedback is presented, demonstrating reliable steering of the robot toward predefined targets.
Together, these results contribute to advancing magnetic microrobotics toward clinical applications in targeted tumor treatment and other soft-tissue interventions.