During past few years, applications of untethered magnetically controlled soft robots in the biomedical operations have been extensively reported, which is attributed to the efficient locomotion gaits, digital fabrication technologies and non-contact magnetic activation of these robots. Owing to compliance of these robots and hazardless nature of penetrating magnetic field in the living tissues of the human body, the magnetically actuated soft robots are promising tools to access delicate and narrow regions of the body and perform minimally invasive disease diagnosis and treatments. The present study aims to critically review the literature on the magnetically actuated milli, micro and nanoscale soft robots. The design, manufacturing, and in vivo and in vitro applications of the magnetic soft robots are reviewed comprehensively, and superiorities and limitations of the different designs are highlighted. The theoretical analyses along with the experimental studies reported in the literature are investigated. Applications of the permanent magnets and different types of electromagnets such as paired coils and distributed ones in providing force- and torque-driven actuations are studied. Also, the effects of strength and frequency of the applied magnetic field, materials and locomotion modes on the speed, deformation and performance of the soft robots are discussed. The healthcare-oriented applications of the magnetic soft robots such as delivery of the therapeutic payloads, cell manipulation, endoscopy and cardiovascular diseases treatments are reviewed. Finally, the challenges in the manufacturing and applications of the magnetically driven soft robots are highlighted. Since this study presents a critical review of the literature along with descriptive appendices including images, brief descriptions, and video references of the most relevant magnetically actuated soft robots and electromagnets, it can be regarded as a benchmark for the researchers who aim to conduct further research in this field.

在过去的几年中，已经广泛报道了束缚式磁控软机器人在生物医学操作中的应用，这归因于这些机器人的高效步态，数字制造技术和非接触式磁激活。由于这些机器人的合规性以及在人体活组织中穿透磁场的无害特性，因此，磁驱动的软机器人是有望进入人体细小和狭窄区域并进行微创疾病诊断和治疗的有前途的工具。本研究旨在批判性地回顾有关磁驱动的毫微，微米和纳米级软机器人的文献。全面回顾了磁性软机器人的设计，制造以及体内和体外应用，并突出了不同设计的优点和局限性。对理论分析以及文献中报道的实验研究进行了研究。研究了永磁体和不同类型的电磁铁（例如成对线圈和分布式线圈）在提供力和转矩驱动的致动中的应用。此外，还讨论了所施加磁场的强度和频率，材料和运动模式对软机器人的速度，变形和性能的影响。回顾了磁性软机器人在医疗保健方面的应用，例如治疗有效载荷的传递，细胞操纵，内窥镜检查和心血管疾病的治疗。最后，重点介绍了磁驱动软机器人在制造和应用中的挑战。