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Abstract Magnetic actuation has been well exploited for untethered manipulation and locomotion of small-scale robots in complex environments such as intracorporeal lumens. Most existing magnetic actuation systems employ a permanent magnet onboard the robot. However, only 2-DoF orientation of the permanent-magnet robot can be controlled since no torque can be generated about its axis of magnetic moment, which limits the dexterity of manipulation.
4. Materials and Methods 4.1. Cell Culture The bovine mammary epithelial cell line (MAC-T cells) used in this study was kindly provided by Prof. Hong Gu Lee (Konkuk University, Seoul, South Korea). After the cells were given, the validation results were in accordance with the MAC-T cell characteristics [42]. The passage number of MAC-T cells processed in this study was between 55–57.
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