Abstract: A microrobot configured to move in a viscoelastic anatomic environment along a propulsion direction, including a body extending along a body axis, a navigation head extending along a head axis presenting a given configuration with regards to the body, a propulsion element extending along a propulsion axis, and presenting an external surface with a helical external thread presenting a given configuration with regards to the body, a driving mechanism configured to drive the propulsion element in rotation around the propulsion axis. The microrobot includes an orientation arrangement configured to change at least one of the given configurations of the navigation head and of the external thread with regards to the body in order to change the propulsion direction.

Abstract: Micro-robot including a body configured to vibrate, and an actuator configured to generate vibrations causing the micro-robot to move. It includes a steering system which includes a resonating structure configured to be secured to the micro-robot and including a steering structure to control the propulsion direction, weight-resonators being configured to be activated by a proper activation resonance frequency. The actuator is configured to generate vibrations in a range of frequencies including the proper activation resonance frequency of each weight-resonator. The resonating structure displays at least two states: one activated steering state, in which at least one of the weight-resonators is activated at the proper activation resonance frequency to change the propulsion direction, and a non-activated steering state, in which none of the weight-resonators is activated at its proper activation resonance frequency so as to maintain the propulsion direction.