This paper presents the development of multifunctional magnetically driven capsules (MagCaps) for biomedical applications, particularly in the diagnosis and treatment of gastrointestinal (GI) diseases. The capsules are designed to overcome the limitations of traditional capsule endoscopy, such as poor active motion and limited medical functions. Key advancements include: 1. **Development of a Magnetic Soft Valve**: A dual-layer ferromagnetic soft composite film is used to create a magnetic soft valve that can be opened and closed using the competitive interactions between magnetic gradient force and magnetic torque. This valve allows for controlled drug release and sampling. 2. **Multi-Frequency Actuation Strategy**: A strategy based on multi-frequency response control is proposed to decouple and regulate the global motion and local responses of the MagCaps. This enables effective targeted drug delivery, sampling, and selective dual-drug release. 3. **Versatile Applications**: The MagCaps are demonstrated to have multiple potential applications, including targeted drug delivery, sampling, selective dual-drug release, and light/thermal-assisted therapy. These applications are validated through ideal models, animal ex vivo models, and in vivo assessments. 4. **Structural Design and Performance**: The design and performance of the magnetic soft valve are detailed, including its sealing properties and magnetic field requirements. The valve's ability to maintain a tight seal under gastrointestinal pressure and extreme conditions is demonstrated. 5. **Global and Local Responses**: The decoupling of global locomotion and local deformation is achieved through a dual-frequency magnetic actuation strategy. Low-frequency magnetic fields control the capsule's global motion, while high-frequency magnetic fields control the local deformation of the valve. 6. **Integrated Functionality**: The MagCaps are tested for integrated functionalities such as targeted drug delivery, drug release, and sampling. Ex vivo and in vivo experiments in porcine and rabbit models show the effectiveness of the capsules in achieving these tasks. 7. **Extended Functions**: The MagCaps are further extended to include dual-drug release, mucus removal, wireless light therapy, and wireless thermal therapy. These extended functions enhance the capsules' capabilities in drug delivery, mucus clearance, and therapeutic applications. The MagCaps represent a significant advancement in the field of micro-robotics and capsule endoscopy, offering a versatile and multifunctional approach to the diagnosis and treatment of GI diseases. Future work will focus on optimizing capsule structure design, evaluating specific pathology experiments, and expanding the application of these capsules in larger animal models.This paper presents the development of multifunctional magnetically driven capsules (MagCaps) for biomedical applications, particularly in the diagnosis and treatment of gastrointestinal (GI) diseases. The capsules are designed to overcome the limitations of traditional capsule endoscopy, such as poor active motion and limited medical functions. Key advancements include: 1. **Development of a Magnetic Soft Valve**: A dual-layer ferromagnetic soft composite film is used to create a magnetic soft valve that can be opened and closed using the competitive interactions between magnetic gradient force and magnetic torque. This valve allows for controlled drug release and sampling. 2. **Multi-Frequency Actuation Strategy**: A strategy based on multi-frequency response control is proposed to decouple and regulate the global motion and local responses of the MagCaps. This enables effective targeted drug delivery, sampling, and selective dual-drug release. 3. **Versatile Applications**: The MagCaps are demonstrated to have multiple potential applications, including targeted drug delivery, sampling, selective dual-drug release, and light/thermal-assisted therapy. These applications are validated through ideal models, animal ex vivo models, and in vivo assessments. 4. **Structural Design and Performance**: The design and performance of the magnetic soft valve are detailed, including its sealing properties and magnetic field requirements. The valve's ability to maintain a tight seal under gastrointestinal pressure and extreme conditions is demonstrated. 5. **Global and Local Responses**: The decoupling of global locomotion and local deformation is achieved through a dual-frequency magnetic actuation strategy. Low-frequency magnetic fields control the capsule's global motion, while high-frequency magnetic fields control the local deformation of the valve. 6. **Integrated Functionality**: The MagCaps are tested for integrated functionalities such as targeted drug delivery, drug release, and sampling. Ex vivo and in vivo experiments in porcine and rabbit models show the effectiveness of the capsules in achieving these tasks. 7. **Extended Functions**: The MagCaps are further extended to include dual-drug release, mucus removal, wireless light therapy, and wireless thermal therapy. These extended functions enhance the capsules' capabilities in drug delivery, mucus clearance, and therapeutic applications. The MagCaps represent a significant advancement in the field of micro-robotics and capsule endoscopy, offering a versatile and multifunctional approach to the diagnosis and treatment of GI diseases. Future work will focus on optimizing capsule structure design, evaluating specific pathology experiments, and expanding the application of these capsules in larger animal models.