A microrobot system, comprising: a microrobot for displacement through a space having a wall , especially a lumen , the microrobot being formed with a body containing a magnetic field of force responsive material, wherein, in response to a magnetic field of force, a force is applied to the microrobot in a direction of the magnetic field of force; a magnetic field of force generator designed to generate a magnetic field of force with a predetermined direction , amplitude and spatial variation for application to the microrobot to propel the microrobot through the space in a direction of a net field of force, and a control unit connected to the magnetic field of force generator , said control unit being designed to calculate the direction and an amplitude of the net field of force acting on the microrobot, to control a displacement of the microrobot through the space using data relating to an image of the space and the calculated direction and amplitude, characterized in that the control unit is designed to calculate a spatial variation of the net field of force acting on the microrobot, to control a displacement of the microrobot through the space and against the wall and to calculate an equilibrium point (50, 102; 118) of the microrobot on the wall using data relating to the image of the space and the calculated direction, amplitude, and spatial variation of the net field of force , and to create a sequence of field generating steps executed one after the other, wherein each field generating step comprises providing the direction , the amplitude and the spatial variation of the net field of force (116; 300) for the displacement of the microrobot (100; 101, 102) in the space and against the wall from an equilibrium point (50, 102; 118) on the wall to another equilibrium point on the wall (50, 102; 118). a microrobot for displacement through a space having a wall , especially a lumen , the microrobot being formed with a body containing a magnetic field of force responsive material, wherein, in response to a magnetic field of force, a force is applied to the microrobot in a direction of the magnetic field of force; a magnetic field of force generator designed to generate a magnetic field of force with a predetermined direction , amplitude and spatial variation for application to the microrobot to propel the microrobot through the space in a direction of a net field of force, and a control unit connected to the magnetic field of force generator , said control unit being designed to calculate the direction and an amplitude of the net field of force acting on the microrobot, to control a displacement of the microrobot through the space using data relating to an image of the space and the calculated direction and amplitude, characterized in that the control unit is designed to calculate a spatial variation of the net field of force acting on the microrobot, to control a displacement of the microrobot through the space and against the wall and to calculate an equilibrium point (50, 102; 118) of the microrobot on the wall using data relating to the image of the space and the calculated direction, amplitude, and spatial variation of the net field of force , and to create a sequence of field generating steps executed one after the other, wherein each field generating step comprises providing the direction , the amplitude and the spatial variation of the net field of force (116; 300) for the displacement of the microrobot (100; 101, 102) in the space and against the wall from an equilibrium point (50, 102; 118) on the wall to another equilibrium point on the wall (50, 102; 118). <EOS>