微纳米机器人是药物靶向治疗的理想递送平台。随着面对的环境及任务过程复杂度的逐步升高，迫切需要多群体微纳米机器人在一个共同的环境中，能够选择性响应外部控制信号、共同协助，实现精确、鲁棒的多运动模式控制。本课题针对目前微纳米机器人缺乏多运动模式操控、无法实现选择性运动控制的难题，提出基于光磁混合驱动的微纳米机器人的制备方法及驱动策略。系统研究微纳米机器人形貌（尺寸、比表面积等）、液体环境（粘度、电解质浓度等）、光照条件（波段、强度等）及外磁场等因素对微纳米机器人运动控制的影响。通过研究基于自电泳的光驱动模型和外磁场驱动模型，结合流体阻力，建立了光磁混合驱动下实现精确运动控制的动力学模型。通过在微纳米机器人表面修饰对不同波段光选择性吸收的光催化材料，建立光磁混合驱动微纳米机器人多模式选择性运动控制的策略和方法。为集群化微纳米机器人在靶向治疗中的应用提供理论与技术基础。

Micro- and nanorobots are ideal vehicles for targeted delivery of therapeutic drugs. With the increase of complexity in the working environment and task diversity, it requires micro- and nanorobots can perform precise and robust, selective control of multiple motion modes in a swarm. Thus, micro- and nanorobots can cooperate to perform complex tasks. In order to address these current limitations, we propose a hybrid actuation of micro- and nanorobots by using both light and magnetic field. We will investigate the effects of microrobot’s morphology (size, specific surface area), liquid properties, different intensity and wavelength of light, and different magnetic fields on the motion control of micro- and nanorobots. By studying the dynamic effect of self-electrophoresis during light actuation, magnetic model during magnetic actuation, and the drag from the liquid, a dynamic model is established for precise motion control of micro- and nanorobots under light and magnetic field. Finally, the selective control of multiple motion modes is realized by mediating the light absorption of the photocatalytic materials at different wavelengths. These results provide the theoretical and technical basis for the application of a swarm of micro- and nanorobots in the targeted therapy.