Abstract: Devices, systems and methods for controlling motion of magnetic-driven nanobots are provided. Based on a selection indicative of a pattern of movement of the nanobots (200), a signal can be generated indicative of a pattern of magnetic field to be produced. Electrical signals can be generated to cause production of the pattern of magnetic field. The electrical signals can be provided to a device (300, 800) which is adaptable for being placed on the head or around a tooth of the patient. A first coil (502, 602, 804) of the device can receive the electrical signals and produce the pattern of the magnetic field to drive the magnetically-driven nanobots from a pulp region of the tooth into the dentinal tubules.