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Figure 2. Small-scale magnetic soft robots in the GI tract for targeted delivery. (A) A wireless amphibious origami-inspired millirobot capable of self-adaptive terrestrial locomotion and remotely controlled delivery of liquid therapeutics through magnetic actuation^[173]. Copyright 2022 Springer Nature; (B) Magnetically actuated capsule robots exhibiting multimodal mechanical behaviors and tunable release profiles for precision-targeted therapeutic interventions^[176]. Copyright 2024 Springer Nature; (C) Concept of wireless miniature soft robots for in situ assessment of gastrointestinal tissue properties, including adhesion, pH, and viscoelasticity, with an X-ray image illustrating localization within porcine small intestine^[177]. Copyright 2023 American Association for the Advancement of Science; (D) Conceptual diagram and experimental demonstration of an unbounded magnetic soft robot achieving dynamic intestinal manipulation using integrated heating modules^[181]. Copyright 2023 Springer Nature. GI: Gastrointestinal.