Magnetically driven microrobots hold great potential to perform specific tasks more locally and less invasively in the human body. To reach the lesion area in vivo, microrobots should usually be navigated in flowing blood, which is much more complex than static liquid. Therefore, it is more challenging to design a corresponding precise control scheme. A considerable amount of work has been done regarding control of magnetic microrobots in a flow and the corresponding theories. In this paper, we review and summarize the state-of-the-art research progress concerning magnetic microrobots in blood flow, including the establishment of flow systems, dynamics modeling of motion, and control methods. In addition, current challenges and limitations are discussed. We hope this work can shed light on the efficient control of microrobots in complex flow environments and accelerate the study of microrobots for clinical use.

磁驱动微型机器人具有巨大的潜力，可以在人体中更局部地、侵入性更小地执行特定任务。为了到达体内病变区域，微型机器人通常应该在流动的血液中导航，这比静态液体复杂得多。因此，设计相应的精确控制方案更具挑战性。关于磁性微型机器人的流动控制和相应的理论，人们已经做了大量的工作。在本文中，我们回顾和总结了血流中磁性微型机器人的最新研究进展，包括流动系统的建立、运动动力学建模和控制方法。此外，还讨论了当前的挑战和限制。我们希望这项工作能够为复杂流动环境中微型机器人的有效控制提供线索，并加速微型机器人临床应用的研究。