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As an emerging field of robotics, magnetic-field-controlled soft microrobothas broad application prospects for its flexibility, locomotion diversity aswell as remote controllability. Magnetic soft microrobots can performmultimodal locomotion under the control of a magnetic field, which may havepotential applications in precision medicine. However, previous researchesmainly focus on new locomotion in a relatively ideal environment, lackingexploration on the ability of magnetic microrobot locomotion to resist externaldisturbances and proceed in a nonideal environment. Here, a porous silica-dopedsoft magnetic microrobot is constructed for enhanced stability of multimodallocomotion in the nonideal biological environment. Porous silica spheres aredoped into NdFeB-silicone elastomer base, improving adhesion properties as wellas refining the comprehensive mechanical properties of the microrobot.Multimodal locomotions are achieved, and the influence of porous silica dopingon the stability of each locomotion in nonideal environment is explored indepth. Motions in nonideal circumstances such as climbing, loading, currentrushing, wind blowing, and obstacle hindering are conducted successfully withporous silica doping. Such a stability-enhanced multimodal locomotion systemcan be used in biocatalysis as well as thrombus removal, and its prospect forprecision medicine is highlighted by in vivo demonstration of multimodallocomotion with nonideal disturbance.

Soft magnetic microrobot doped with porous silica for stability-enhanced multimodal locomotion in nonideal environment