Magnetically driven capsules with multimodal response and multifunctionality for biomedical applications This study presents the development of small-scale magnetically driven capsules with a distinct magnetic soft valve made of dual-layer ferromagnetic soft composite films. The key technological advancement is the flexible opening and closing of the magnetic soft valve using competitive interactions between magnetic gradient force and magnetic torque, enabling the integration of drug release and sampling functions. A magnetic actuation strategy based on multi-frequency response control is proposed, allowing effective decoupled regulation of the capsule's global motion and local responses. Through a comprehensive approach including ideal models, animal ex vivo models, and in vivo assessment, the versatility of the developed magnetic capsules and their multiple potential applications in the biomedical field are demonstrated, such as targeted drug delivery and sampling, selective dual-drug release, and light/thermal-assisted therapy. The gastrointestinal (GI) tract is one of the largest hormone-producing organs in the body, inducing common clinical disorders such as inflammation, ulcers, hemorrhage, infections, and cancers. Colorectal and stomach cancers, which are malignant tumors of the GI tract, rank among the top three in terms of cancer incidence, posing a severe threat to human health. Traditional flexible endoscopy and capsule endoscopy have limitations and require urgent innovative breakthroughs. Although capsule endoscopy can enable wire-free, non-invasive, and painless diagnostic procedures, its movement often relies on peristalsis in the intestines and is mainly restricted to imaging purposes. The field of micro-robotics is currently evolving rapidly, with its primary goal being to fulfill a wide range of biomedical applications within the human body. Combining traditional capsules with modern micro-robotics can lead to promising diagnostic and therapeutic approaches that may provide innovative solutions to the aforementioned problems and challenges. The magnetic actuation method is considered one of the safest and most ideal methods for capsules due to its non-contact, high controllability, and good penetration performance. However, the application scenarios of the existing magnetic capsule endoscopy are significantly limited, as it is mainly used for image acquisition and transmission without additional diagnosis and treatment functions. The wireless feature is one of the significant advantages of the magnetic actuation method, but it also brings challenges to the multifunctional implementation of capsules in the complex GI environment. The specific motion of the capsule in a completely unconstrained state imposes strict requirements on the design and control of the applied magnetic field. In this work, we developed multifunctional magnetically driven capsules with distinct design concepts, which we refer to as MagCaps. We combined magnetic soft robotics with capsule design and proposed a controllable magnetic soft valve based on the competitive interactions between the magnetic gradient force and magnetic torque. The soft valve is self-closed in the absence of a magnetic field and can be opened by applying the magnetic field, which benefits from the dual-layer structure and magnetization design of the magnetic soft valve. Meanwhile, we proposed a multimodal actuationMagnetically driven capsules with multimodal response and multifunctionality for biomedical applications This study presents the development of small-scale magnetically driven capsules with a distinct magnetic soft valve made of dual-layer ferromagnetic soft composite films. The key technological advancement is the flexible opening and closing of the magnetic soft valve using competitive interactions between magnetic gradient force and magnetic torque, enabling the integration of drug release and sampling functions. A magnetic actuation strategy based on multi-frequency response control is proposed, allowing effective decoupled regulation of the capsule's global motion and local responses. Through a comprehensive approach including ideal models, animal ex vivo models, and in vivo assessment, the versatility of the developed magnetic capsules and their multiple potential applications in the biomedical field are demonstrated, such as targeted drug delivery and sampling, selective dual-drug release, and light/thermal-assisted therapy. The gastrointestinal (GI) tract is one of the largest hormone-producing organs in the body, inducing common clinical disorders such as inflammation, ulcers, hemorrhage, infections, and cancers. Colorectal and stomach cancers, which are malignant tumors of the GI tract, rank among the top three in terms of cancer incidence, posing a severe threat to human health. Traditional flexible endoscopy and capsule endoscopy have limitations and require urgent innovative breakthroughs. Although capsule endoscopy can enable wire-free, non-invasive, and painless diagnostic procedures, its movement often relies on peristalsis in the intestines and is mainly restricted to imaging purposes. The field of micro-robotics is currently evolving rapidly, with its primary goal being to fulfill a wide range of biomedical applications within the human body. Combining traditional capsules with modern micro-robotics can lead to promising diagnostic and therapeutic approaches that may provide innovative solutions to the aforementioned problems and challenges. The magnetic actuation method is considered one of the safest and most ideal methods for capsules due to its non-contact, high controllability, and good penetration performance. However, the application scenarios of the existing magnetic capsule endoscopy are significantly limited, as it is mainly used for image acquisition and transmission without additional diagnosis and treatment functions. The wireless feature is one of the significant advantages of the magnetic actuation method, but it also brings challenges to the multifunctional implementation of capsules in the complex GI environment. The specific motion of the capsule in a completely unconstrained state imposes strict requirements on the design and control of the applied magnetic field. In this work, we developed multifunctional magnetically driven capsules with distinct design concepts, which we refer to as MagCaps. We combined magnetic soft robotics with capsule design and proposed a controllable magnetic soft valve based on the competitive interactions between the magnetic gradient force and magnetic torque. The soft valve is self-closed in the absence of a magnetic field and can be opened by applying the magnetic field, which benefits from the dual-layer structure and magnetization design of the magnetic soft valve. Meanwhile, we proposed a multimodal actuation