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small\u2010scale soft continuum robots with large\u2010angle steering capacity and high\u2010precision manipulation offers broad opportunities in various biomedical settings. However, existing continuum robots reach the bottleneck in actuation on account of the contradiction among small size, compliance actuation, large tender range, high precision, and small dynamic error. Herein, a 3D\u2010printed millimeter\u2010scale soft continuum robot with an ultrathin hollow skeleton wall (300\u2009\u03bcm) and a large inner\u2010to\u2010outer ratio (0.8) is reported. After coating a thin ferromagnetic elastomer layer (\u2248100\u2013150\u2009\u03bcm), the proposed soft continuum robot equipped with hybrid actuation (tendon\u2010 and magnetic\u2010driven mode) achieves large\u2010angle (up to 100\u00b0) steering and high\u2010precision (low to 2\u2009\u03bcm for static positioning) micromanipulation simultaneously. Specifically, the robot implements an ultralow dynamic tracking error of \u224810\u2009\u03bcm, which is \u224830\u2010fold improved than the state of art. Combined with a microneedle\/knife or nasopharyngeal swab, the robot reveals the potential for versatile biomedical applications, such as drug injection on the target tissue, diseased tissue ablation, and COVID\u201019 nasopharyngeal sampling. The proposed millimeter\u2010scale soft continuum robot presents remarkable advances in large\u2010range and high\u2010precise actuation, which provides a new method for miniature continuum robot design and finds broad applications in biomedical engineering.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202000189","type":"journal-article","created":{"date-parts":[[2020,11,19]],"date-time":"2020-11-19T15:09:30Z","timestamp":1605798570000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":104,"title":["Millimeter\u2010Scale Soft Continuum Robots for Large\u2010Angle and High\u2010Precision Manipulation by Hybrid Actuation"],"prefix":"10.1002","volume":"3","author":[{"given":"Tieshan","family":"Zhang","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Tat Chee Avenue Kowloon Hong Kong 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