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In this paper, a magnetically guided micromanipulation method is proposed to accurately create artistic patterns with magnetic microrobots in a liquid environment for tissue engineering. A magnetically guided device is developed depend on symmetrical combination of square permanent magnets and array layout of soft magnetic wires, which changed the space distribution of magnetic field of conventional permanent magnet and generated powerful magnetic flux density and high magnetic field gradient. Furthermore, the morphological structure of the magnetic microrobot is flexibly adjusted via precise control of the volumetric flow rates inside the microfluidic device and the magnetic nanoparticles are taken along to enable its controllability by rapid magnetic response. And then, the spatial posture of the magnetic microrobot is contactless controlled by the magnetically guided manipulator and it is released under the influence of surface tension and gravity. Subsequently, the artistic fashions of the magnetic microrobots are precisely distributed via the dot-matrix magnetic flux density of the magnetically guided device. Finally, the experimental results herein demonstrate the accuracy and diversity of the pattern structures in the water and the developed method will be providing a new way for personalized functional scaffold construction.

Magnetically Guided Micromanipulation of Magnetic Microrobots for Accurate Creation of Artistic Patterns in Liquid Environment