This paper presents a magnetic soft microrobot designed for cell grasping and transportation. The microrobot is controlled using only 3 pairs of electromagnetic coils, which allows for the simultaneous control of rotation, movement, and grasping. A specially designed microgripper is used for efficient cell manipulation. The study includes a bending deformation model of the microgripper, validated through experiments, and an approach combining an extended Kalman filter (EKF) with model predictive control (MPC) for precise trajectory tracking. The system demonstrated a mean absolute error (MAE) of less than 0.155 mm, which is 1.55% of the microrobot's size, indicating high accuracy. A successful experiment involving the grasping and transportation of a zebrafish embryonic cell (800 μm in diameter) was conducted, validating the system's precision and effectiveness. The research highlights the potential of the microrobot for in vitro and in vivo cell manipulation. The main contributions include the design of a magnetic control platform and a soft microrobot, the development of an EKF-MPC algorithm for accurate trajectory tracking, and the achievement of precise and automated point-to-point transportation of zebrafish cells. The microrobot's design and control strategies offer a novel solution for precise micromanipulation tasks, with potential applications in biological and medical engineering.This paper presents a magnetic soft microrobot designed for cell grasping and transportation. The microrobot is controlled using only 3 pairs of electromagnetic coils, which allows for the simultaneous control of rotation, movement, and grasping. A specially designed microgripper is used for efficient cell manipulation. The study includes a bending deformation model of the microgripper, validated through experiments, and an approach combining an extended Kalman filter (EKF) with model predictive control (MPC) for precise trajectory tracking. The system demonstrated a mean absolute error (MAE) of less than 0.155 mm, which is 1.55% of the microrobot's size, indicating high accuracy. A successful experiment involving the grasping and transportation of a zebrafish embryonic cell (800 μm in diameter) was conducted, validating the system's precision and effectiveness. The research highlights the potential of the microrobot for in vitro and in vivo cell manipulation. The main contributions include the design of a magnetic control platform and a soft microrobot, the development of an EKF-MPC algorithm for accurate trajectory tracking, and the achievement of precise and automated point-to-point transportation of zebrafish cells. The microrobot's design and control strategies offer a novel solution for precise micromanipulation tasks, with potential applications in biological and medical engineering.