自1990年代以來，微型機器人技術已有長足發展且被應用於各領域中，例如於狹窄環境中或控制微小物體。因應日漸提升的需求，研究者開發各式幾何結構、材質及工作原理的微型機器人。本研究提出一具促進混和與加速溶解功能之微型機器人，相較於多數微混和器僅能固定於流道中，此微型機器人能夠強化任意區域之混和效率。此微型機器人由電磁鐵平台產生之磁場控制，電磁鐵能產生靈活多變的磁場，以精準控制其動態。經由分析微型機器人的動態並最佳化控制參數，微型機器人可於10秒內抵達目標位置(位置誤差≤ ±0.3mm)。做為微混和器，能將高黏度流體的混和效率由40%提高至80%，而該流體混和效率在靜態環境中幾乎不變。在黏滯流中，增強混和可使物質溶解加速，本研究以溶解試驗探討微型機器人對於溶解的影響。結果顯示，於開放流道中，微型機器人可將氯化鈉晶體溶解速率提高至靜態環境之3倍；於封閉流道中，晶體完全溶解的時間可縮短約17%。此微型機器人可於多種液態環境中運作，能提高目標區域混和效率並提高溶解速率。這些特點顯示其具有於複雜環境中執行任務的潛力，且由軟性材質製成，不會對生物組織造成傷害，可應用於生醫相關領域。例如，其具有輔助除栓手術的潛力，加快血栓溶解並縮短手術時間以提高病人存活率。另外，透過結合微流道技術，達成更加靈活的混和裝置。

This research proposed a microrobot with the functions of promoting local mixing efficiency and accelerating the dissolution rate. This microrobot was controlled by the magnetic field generated by the electromagnet platform. The microrobot could reach the target position within 10 seconds (position error ≤ ±0.3mm) and increase local mixing efficiency from 40% to 80%. In viscous flow, enhanced mixing could accelerate the dissolution of substances. Thus, the dissolution tests were executed to investigate the influence of microrobots on dissolution. The results showed that, in an open channel, the dissolution rate of sodium chloride crystals was three times higher than that under a static environment; in a closed channel, the time for the complete dissolution of the crystal can be shortened by about 17%. This microrobot could improve the mixing efficiency of the target area and increase the dissolution rate. These characteristics indicated that it possessed the potential to perform tasks and accelerate the dissolution in narrow environments and could be applied in biomedical-related fields, such as in vivo devices to assist cerebrovascular surgeries.

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