For accessing and modifying microscale surroundings, magnetic microrobots have shown great promise, especially in healthcare applications. These robots provide accurate navigation and untethered operation by using magnetic fields for propulsion and control. Different propulsion mechanisms, including torque-driven and force-driven systems, as well as creative manufacturing approaches that improve their biocompatibility and performance, are examples of recent developments in magnetic microrobot design. Targeted medication delivery and microsurgery have demonstrated great promise for biohybrid magnetic microrobots, which combine biological entities with magnetic components. This paper analyzes the state of magnetic microrobots, emphasizing their actuation techniques, design approaches, and biomedical applications. Additionally, it presents the challenges and potential paths forward in this area, highlighting how magnetic microrobots might revolutionize microscale manipulation and medical procedures.