Soft Robotics and Advanced Technologies for Minimally Invasive Bioprinting: The Future of Internal Organ Repair

Bioprinting, first proposed in the 1980s for ex vivo tissue fabrication, has evolved into a cornerstone of regenerative medicine. Conventional approaches rely on printing tissues outside the body for later implantation but are limited by geometric mismatch, construct fragility, and invasive surgery. In situ bioprinting addresses these limitations by depositing cells and biomaterials directly at defect sites, enabling patient-specific repair and improved tissue integration. Building on this paradigm, Minimally Invasive Bioprinting (MIB) targets internal organ regeneration through small incisions or natural orifices. This review defines a technological roadmap from handheld bioprinting tools to advanced MIB systems, identifying soft robotics as the primary hardware enabler for navigation within confined anatomical environments. We examine essential technology pillars for MIB, including soft actuation, sensing, real-time imaging, computational modeling, intelligent control, and bioink engineering. The integration of emerging approaches such as artificial intelligence, four-dimensional bioprinting, and organ-on-a-chip platforms is discussed for enhancing autonomy, adaptability, and functional outcomes. Finally, we evaluate key translational challenges, including safety, scalability, and reproducibility, and outline regulatory considerations for clinical implementation. Overall, integrating soft robotic mechanisms with in situ bioprinting is critical for achieving safe, high-fidelity, patient-specific internal organ repair in minimally invasive clinical settings worldwide for future practice applications.