A particular challenge in intravascular treatments is the control of submillimeter guidewires. This requires a new microrobotics approach. A soft magnetic microrobot is required, consisting of (1) a flexible polydimethylsiloxane (PDMS) body, (2) two permanent magnets, and (3) a micro-spring connector designed and controlled in any 2D arbitrary paths. The proposed soft microrobot has the potential to improve guidewire control in a percutaneous coronary intervention (PCI) phantom. View this paper.