Microrobots have been proposed for future biomedical applications in which they are able to navigate in viscous fluidic environments. Nature has inspired numerous microrobotic locomotion designs, which are suitable for propulsion generation at low Reynolds numbers. This article reviews the various swimming methods with particular focus on helical propulsion inspired by E. coli bacteria. There are various magnetic actuation methods for biomimetic and non-biomimetic microrobots, such as rotating fields, oscillating fields, or field gradients. They can be categorized into force-driven or torque-driven actuation methods. Both approaches are reviewed and a previous publication has shown that torque-driven actuation scales better to the micro- and nano-scale than force-driven actuation. Finally, the implementation of swarm or multi-agent control is discussed. The use of multiple microrobots may be beneficial for in vivo as well as in vitro applications. Thus, the frequency-dependent behavior of helical microrobots is discussed and preliminary experimental results are presented showing the decoupling of an individual agent within a group of three microrobots.

Artificial bacterial flagella (ABFs) consist of helical tails resembling natural flagella fabricated by the self-scrolling of helical nanobelts and soft-magnetic heads composed of Cr/Ni/Au stacked thin films. ABFs are controlled wirelessly using a low-strength rotating magnetic field. Self-propelled devices such as these are of interest for in vitro and in vivo biomedical applications. Swimming tests of ABFs show a linear relationship between the frequency of the applied field and the translational velocity when the frequency is lower than the step-out frequency of the ABF. Moreover, the influences of head size on swimming velocity and the lateral drift of an ABF near a solid boundary are investigated. An experimental method to estimate the propulsion matrix of a helical swimmer under a light microscope is developed. Finally, swarm-like behavior of multiple ABFs controlled as a single entity is demonstrated.

Microrobots have the potential to dramatically change many aspects of medicine by navigating through bodily fluids to perform targeted diagnosis and therapy. Researchers have proposed numerous micro-robotic swimming methods, with the vast majority utilizing magnetic fields to wirelessly power and control the microrobot. In this paper, we compare three promising methods of microrobot swimming (using magnetic fields to rotate helical propellers that mimic bacterial flagella, using magnetic fields to oscillate a magnetic head with a rigidly attached elastic tail, and pulling directly with magnetic field gradients) considering practical hardware limitations in the generation of magnetic fields. We find that helical propellers and elastic tails have very comparable performance, and they generally become more desirable than gradient pulling as size decreases and as distance from the magnetic-field-generation source increases. We provide a discussion of why helical propellers are likely the best overall choice for in vivo applications.

We show that rotating Ni nanowires are capable of propulsion and transport of colloidal cargo near a complex surface. When dissimilar boundary conditions exist at the two ends of a nanowire, such as when a nanowire is near a wall, tumbling motion can be generated that leads to propulsion of the nanowire. The motion of the nanowire can be precisely controlled using a uniform rotating magnetic field. We investigate the propulsion mechanism and the trajectory of the nanowire during the tumbling motion and demonstrate cargo transport of a polystyrene microbead by the nanowire over a flat surface or across an open microchannel. The results imply that functionalized, ferromagnetic one-dimensional, tumbling nanostructures can be used for cell manipulation and targeted drug delivery in a low Reynolds number aqueous environment.

This article presents an overview of recent developments in artificial bacterial flagella (ABFs) and discusses challenges and opportunities in pursuing applications. These helical swimmers possess several advantageous characteristics, such as high swimming velocity and precise motion control indicating their potential for diverse applications. One application is the manipulation of small objects within liquid, which is the focus of this review. Preliminary results have shown that ABFs are capable of performing microobject manipulation either directly by mechanical contact or indirectly by generating a localized fluid flow. The latter approach can be used for batch manipulation without direct contact, also implying possibilities for flow control in lab-on-a-chip systems. Miniaturized helical swimmers are also promising for biomedical applications, such as targeted drug delivery and implantation or removal of tissues and other objects.

Helical microrobots have the potential to be used in a variety of application areas, such as in medical procedures, cell biology, or lab-on-a-chip. They are powered and steered wirelessly using low-strength rotating magnetic fields. The helical shape of the device allows propulsion through numerous types of materials and fluids, from tissue to different types of bodily fluids. Helical propulsion is suitable for pipe flow conditions or for 3D swimming in open fluidic environments.

Controlled manipulation of individual micro- and nanoscale objects requires the use of trapping forces that can be focused and translated with high spatial and time resolution. We report a new strategy that uses the flow of mobile microvortices to trap and manipulate single objects in fluid with essentially no restrictions on their material properties. Fluidic trapping forces are generated toward the center of microvortices formed by magnetic microactuators, that is, rotating nanowire or self-assembled microbeads, actuated by a weak rotating magnetic field (|B|< 5 mT). We demonstrate precise manipulation of single microspheres and microorganisms near a solid surface in water.

Hybrid helical magnetic microrobots are achieved by sequential electrodeposition of a CoNi alloy and PPy inside a photoresist template patterned by 3D laser lithography. A controlled actuation of the microrobots by a rotating magnetic field is demonstrated in a fluidic environment.