Microrobots can enter the human body and perform medical tasks such as targeted therapy

minimally invasive surgery in narrow environments. Among the numerous ways to actuate medical microrobots

magnetic actuation has the advantages of wireless operation

harmless penetration

fast response speed

high degree of control freedom

and flexible design. Therefore

magnetically actuated microrobots have great application potential in the medical field. This paper first summarizes the working mechanism of magnetic components used in magnetically actuated microrobots. Subsequently

it introduces the research progress of magnetically actuated microrobots in actuation systems

motion modes

control methods in recent years. Finally

the safety and challenges of magnetically actuated microrobots are discussed

which provides references for further scientific research and clinical applications.