Magnetically Actuated Milli-Scale Voxel Robot for Navigation in Tubular and Anatomical Environments

Untethered milli-scale robots hold promise for navigating confined biological pathways and delivering localized interventions, yet existing designs often rely on solid geometries or modular assemblies that limit robustness, payload capability, and locomotion versatility. A single-unit milli-scale voxel robot is introduced, featuring a cuboctahedral open-frame architecture with strategically embedded permanent magnets that enable lightweight construction, internal payload capacity, and multiple l