The use of magnetic fields and field gradients to move magnetic material and devices within the human body has a surprisingly long history. Over the past two decades, there has been renewed interest in this area with the growth of magnetic medical microrobots. In this article, we focus on the state-of-the-art and future directions for magnetically actuated medical robots from an in vivo perspective. We initially review the history and relevant physics followed by a discussion on the limited in vivo research efforts that investigate magnetically guided devices. Our focus is on magnetically guided tethered probes, untethered devices (microrobots and nanorobots), and magnetic navigation systems that have been or could be utilized in vivo to provide increased control and safety for the physician and patient.

中文翻译：

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磁驱动医疗机器人：体内视角


使用磁场和场梯度来移动人体内的磁性材料和设备有着令人惊讶的悠久历史。在过去的二十年里，随着磁性医疗微型机器人的发展，人们对这一领域重新产生了兴趣。在本文中，我们从体内角度重点关注磁驱动医疗机器人的最新技术和未来方向。我们首先回顾历史和相关物理学，然后讨论研究磁引导设备的有限体内研究工作。我们的重点是磁导系留探针、无系留设备（微型机器人和纳米机器人）以及磁导航系统，这些系统已经或可能在体内使用，为医生和患者提供增强的控制和安全性。