Developing Soft Robotics for Minimally Invasive Diagnostics and Targeted Drug Delivery

Abstract

Soft robotics systems built from compliant, deformable, and often bio-inspired materials offers a compelling path for next-generation minimally invasive diagnostic (MID) tools and targeted drug delivery systems (TDDS). Because soft robots can adapt their form to complex anatomy, safely interact with fragile tissues, and integrate active material/state-responsive payload release mechanisms, they are uniquely positioned to address limitations of rigid capsule endoscopes, tethered catheters, and passive drug carriers. This article provides a comprehensive, research-ready treatment of the design, fabrication, sensing, actuation, control, and translational pathways needed to develop soft robotic platforms for MID and TDDS. We synthesize progress in actuation technologies (pneumatic/hydraulic, hydrogel/swelling, shape-memory polymers, dielectric elastomers, magnetically actuated composites), microfabrication and 3D printing methods, onboard sensing (tactile, chemical, biosensing), and communication/energy strategies for untethered operation. We present candidate architectures for (a) soft, steerable endoluminal capsules that perform high-resolution sensing and local drug release, (b) continuum hydrogel robots for submucosal inspection and local therapy, and (c) biohybrid microrobots for targeted tumor penetration and controlled payload delivery. For each architecture we discuss control paradigms, closed-loop sensing strategies, biocompatibility/sterilization constraints, and regulatory/ethical considerations. We then propose experimental validation pathways from benchtop phantoms to large animal studies, and present metrics to quantify diagnostic accuracy, delivery specificity, and safety. Finally, we outline open challenges (energy autonomy, sensor miniaturization, robust navigation, and clinical acceptance) and research directions including federated data pipelines for model improvement and cloud-integrated teleoperation and monitoring. This article aims to serve as a detailed roadmap for researchers and translational teams advancing soft robotic solutions for minimally invasive diagnostics and targeted therapeutics.