fig5

Figure 5. Field-driven and fluid-driven technologies for GI soft robots. (A) Near-infrared laser irradiation induces photothermal transformation of SMP PatchBots, with peak surface temperatures captured by NIR imaging. Reprinted with permission from^[146]. Copyright 2025, IOP Publishing Ltd; (B) Multimode control via ultrasound and external magnetic fields enables on-demand switching between distinct locomotion behaviors. Reprinted with permission from^[135]. Copyright 2024, Wiley‐VCH; (C) Hybrid electrothermal-magnetic actuation with in situ reprogrammable magnetic driving layer and conductive heating achieves versatile gastroscopic robot motions and pose sensing. Reprinted with permission from^[148]. Copyright 2023, Science and Technology Review Publishing House; (D) Pneumatic FOD design integrates FA, CA, and rigid actuator modules (RA-IM, RA-EM) for complex bending and extension. Reprinted with permission from^[155]. Copyright 2023, IEEE; (E) Liquid-gas phase-change STPAM exhibits reversible inflation and deflation under thermal cycling, as shown in thermal and optical images. Reprinted with permission from^[161]. Copyright 2022, Elsevier B.V. GI: Gastrointestinal; FA: fluidic actuator; CA: compliant actuator.