Soft medical microrobots: Design components and system integration

Medical microrobots are distinguished from other robotic systems in that they must function in the human body. As such, they exhibit special characteristics of size, function, and material choice. Recent advances have focused on fabrication techniques, locomotion at microscale environment, and targeted drug delivery. In this article, we will review these advances and examine related developments in material science and strategies for wireless control systems for communication, as well as data acquisition and processing. We focus on medical microrobots made of soft materials (with an emphasis on polymers and hydrogels), which are mechanically robust and deformable, offer tunable biophysical properties, and are highly biocompatible. Integration of the four design elements of locomotion, feedback and control, functionality, and biocompatibility will be needed to develop a fully functioning medical microrobot with clinical utility in the human body, such as diagnostics and treatment of disease, maintenance of wellness, and improvement of overall performance.