A Review of Soft Robotic Actuations for Minimally Invasive Implantable Devices and Sensors

Abstract

Soft robotic actuations are emerging as a transformative paradigm for minimally invasive implantable devices and sensors. Unlike mechanically passive, rigid systems that often require open surgery, these systems enable compact insertion followed by programmable in situ deployment through diverse actuation mechanisms, including fluidic unfolding and eversion, magnetically guided deformation, thermally triggered shape-memory polymers, and electrically driven elastomeric actuators. In this review, we systematically categorize recent advances in soft robotic actuation strategies for implantable bioelectronics and analyze how these mechanisms facilitate minimally invasive delivery, adaptive conformal interfacing, and multifunctional operation across various organ systems. We further discuss complementary materials and structural innovations—such as bioresorbable platforms, tissue-adhesive interfaces, and mechanically optimized architectures—that enhance chronic stability and biocompatibility. Beyond summarizing recent demonstrations, this manuscript identifies two critical gaps hindering clinical translation: the lack of systematic evaluation of actuator-induced mechanical effects on biological tissues and the limited integration of intrinsic self- and environmental sensing for closed-loop operation. By outlining these challenges and emerging research directions, this review aims to provide a conceptual framework for the rational design and future development of next-generation minimally invasive soft robotic implants.