A magnetic soft microrobot is designed for cell grasping and transportation. The microrobot uses three electromagnetic coils for control and features a microgripper for efficient cell manipulation. A bending deformation model is developed to ensure precise grasping, and an extended Kalman filter combined with model predictive control is used for accurate trajectory tracking. Experimental results show that the mean absolute error of path tracking is less than 0.155 mm, which is 1.55% of the microrobot's size. The system successfully grasps and transports a zebrafish embryonic cell (diameter: 800 μm) with a release error of 0.067 mm, demonstrating high precision and automation potential. The microrobot's design allows for simultaneous control of rotation, movement, and grasping using a single magnetic actuator. The system is simple, precise, and biocompatible, offering significant potential for cell manipulation in vitro and in vivo. The study contributes to the development of a novel solution for precise micromanipulation tasks using a magnetic control platform and soft microrobot. The EKF-MPC algorithm achieves accurate trajectory tracking with a mean absolute error of less than 0.155 mm, and the bending deformation model is validated for grasping. The system enables automated point-to-point transportation of zebrafish cells with high accuracy. The research highlights the potential of magnetic soft microrobots in cell manipulation and provides a framework for future developments in this field.A magnetic soft microrobot is designed for cell grasping and transportation. The microrobot uses three electromagnetic coils for control and features a microgripper for efficient cell manipulation. A bending deformation model is developed to ensure precise grasping, and an extended Kalman filter combined with model predictive control is used for accurate trajectory tracking. Experimental results show that the mean absolute error of path tracking is less than 0.155 mm, which is 1.55% of the microrobot's size. The system successfully grasps and transports a zebrafish embryonic cell (diameter: 800 μm) with a release error of 0.067 mm, demonstrating high precision and automation potential. The microrobot's design allows for simultaneous control of rotation, movement, and grasping using a single magnetic actuator. The system is simple, precise, and biocompatible, offering significant potential for cell manipulation in vitro and in vivo. The study contributes to the development of a novel solution for precise micromanipulation tasks using a magnetic control platform and soft microrobot. The EKF-MPC algorithm achieves accurate trajectory tracking with a mean absolute error of less than 0.155 mm, and the bending deformation model is validated for grasping. The system enables automated point-to-point transportation of zebrafish cells with high accuracy. The research highlights the potential of magnetic soft microrobots in cell manipulation and provides a framework for future developments in this field.