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and biocompatible coatings.
Figure 1. Schematic overview illustrating the hierarchical relationship between organ-specific environments, material properties, actuation
principles, and clinical functions in magnetic soft robots. The vascular system subfigure provided by Servier Medical Art
(https://smart.servier.com).
Ferrofluids
Ferrofluids are colloidal dispersions of nanoscale magnetic particles, typically Fe O , stabilized in polar (e.g.,
3
4
water) or non-polar (e.g., oil-based) carrier liquids [113-118] . Due to their liquid-like behavior and magnetic
responsiveness, ferrofluids can undergo magnetically induced deformation , splitting [120-122] , or re-merging
[119]
