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Chen et al. Soft Sci. 2026, 6, 3 Page 17 of 26

fusion, and machine learning-based perception algorithms will continue to enhance the reliability of tracking
and support intelligent navigation under physiologically dynamic conditions.

Miniaturized multifunctional platforms
Magnetic soft robots require integration of actuation, sensing, and drug delivery functions within
constrained sub-millimeter-scale structures [215] . This integration necessitates innovations in materials,
microfabrication, and architectural design. Emerging approaches such as multimaterial 3D printing [58,59] ,
voxel-based modular construction , and origami-inspired self-assembly provide promising strategies for
[60]
[61]
creating reconfigurable devices with hierarchical functionality. Future platforms are expected to combine
magnetic propulsion components with controlled-release drug reservoirs, soft bioelectronic sensors, and
environmentally responsive modules capable of autonomous operation in disease-specific
microenvironments. The development of such compact, multifunctional systems is pivotal for advancing
intelligent, soft robotic interventions [8,9,12] .

Translational pathways toward clinical adoption
Advancing magnetic soft robots from laboratory research to clinical practice will require the establishment of
clear translational pathways in two major areas: technology maturity [8,216] and ethical and regulatory
governance [217-219] . From a technological perspective, future work should adopt an iterative development
framework aimed at systematically raising the technology readiness level. This process involves rigorous
material screening, evaluation of magnetic actuation performance, assessment of structural robustness, and
refinement of multiscale manufacturing strategies. Through these steps, devices can progress from early
concept validation at the laboratory level to functional verification in relevant animal models. For example,
magnetically actuated GI capsules must be evaluated under acidic, mucus-rich, and peristaltic environments
to confirm long-term material stability. With the increase of technical maturity, additional engineering
verification is needed, including imaging compatibility, control accuracy, and manufacturing reproducibility,
to ensure readiness for clinical trials.

Ethical and regulatory considerations represent the second essential component of clinical translation.
Preclinical animal studies must be designed with careful selection of appropriate models; for example,
microscale robots may be tested in rodent models, whereas millimeter-sized robots should be assessed in
larger animals, and all studies must comply with stringent ethical review requirements [218] . Before human
studies, clear procedures for informed consent, long-term management of magnetically responsive materials,
and definitions of operational responsibility must be established [219] . In addition, systematic monitoring
frameworks are needed to identify potential risks, including magnetic particle leakage and chronic tissue
responses.

By establishing coordinated strategies that support both the advancement of technological maturity and the
development of ethical and regulatory safeguards, magnetic soft robots can progress toward clinical
implementation and ultimately contribute to minimally invasive and precision medicine.

CONCLUSION
This review summarizes recent advances in small-scale magnetic soft robots, focusing on material design and
biomedical applications in the GI, vascular, urinary, and reproductive systems. We analyze the development
of magnetically responsive soft materials, emphasizing critical requirements including mechanical
compliance and tissue compatibility for safe and effective in vivo operation. We further discuss organ-
specific robotic platforms that integrate locomotion with diverse biomedical functionalities, including real-
time sensing, targeted drug delivery, on-demand biosampling, and localized thermal therapy.