In this paper, as one of the new therapy methods, we suggested the helical type drilling microrobot that can combine guidewire and catheter. To verify that helical type drilling microrobot can be used for therapy, we experimented about tracking performance of microrobot manipulated by magnetic field control system. In magnetic field control system, helical type drilling microrobot showed the tracking performance along straight and curved guidewires in silicon oil environment. From these results, we can verify possibility of microrobot for drilling motion along guidewire when treated. Consequently, we validated helical type drilling microrobot tracking performance for CTO treatment.