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Page 22 of 33 Ren et al. Soft Sci. 2026, 6, 6

Figure 8. Applications in targeted drug delivery, tissue engineering, and stents. (A) Magnetically propelled pH-responsive hydrogel
microrobots for targeted gripping, transport, and pH-triggered doxorubicin release. Reproduced with permission from Ref. [136] . Copyright
2021, American Chemical Society; (B) Swallowable capsule with a star-shaped gastric carrier for multi-week antimalarial delivery and
improved adherence. Reproduced with permission from Ref. [140] . Copyright 2016, American Association for the Advancement of Science;
(C) Mechanochemical theragrippers for mucosal attachment and extended gastrointestinal drug release. Scale bars: 100 μm. Reproduced
with permission from Ref. [141] . Copyright 2020, American Association for the Advancement of Science; (D) Biodegradable magnetic shape
memory cardiac occluder for patient-specific repair. Reproduced with permission from Ref. [145] . Copyright 2019, Wiley-VCH; (E) Graphene
nerve guidance conduit with reprogrammable shape morphing. Reproduced with permission from Ref. [146] . Copyright 2018, Wiley-VCH; (F)
Bilayer morphing membrane for conformal scaffolds and enhanced bone formation. Reproduced with permission from Ref. [147] . Copyright
2021, Wiley-VCH; (G) Shape memory tracheal stent with porous antibacterial anti-biofilm surface. Reproduced with permission from
Ref. [150] . Copyright 2021, Wiley-VCH; (H) Shape memory hydrogel with programmable recovery for timed stent deployment. Scale bars:
1 cm. Reproduced with permission from Ref. [15] . Copyright 2023, Springer Nature; (I) Near-body-temperature–triggered intestinal stent
with tunable transition and low-irritation wavy mechanics. Reproduced with permission from Ref. [151] . Copyright 2023, Elsevier. DOX:
Doxorubicin; MFCS: microfluidic flow control system; SOEA: soybean oil epoxidized acrylate; 4D: four-dimensional; UV: ultraviolet; DAPI:
4′,6-diamidino-2-phenylindole, dihydrochloride; NHP: neurofilament heavy polypeptide; TUBB3: anti-tubulin β 3; SMP: shape memory
polymer.

create scaffolds that not only support but actively guide regeneration, thereby introducing morphodynamics
into tissue engineering [143] . Unlike static scaffolds, these shape-deformable structures can be invasively