Advances in engineering have enabled a new generation of soft medical robots and devices with unique theranostic capabilities for interfacing with delicate organs. However, challenges remain in achieving spatial and temporal precision in extreme body environments, particularly within the digestive system. This talk will highlight three recent preclinical innovations addressing these challenges: (i) BIOSENTER: a bioinspired soft enteroscopic robot for locomotion, steering, and intervention in the deep small intestine. (ii) IngRI: an ingestible, battery-free, tissue-adhering robotic interface for prolonged gut electrostimulation. (iii) e-GLUE: an electroadhesive hydrogel interface for enhanced mucosal retention of ingestible devices. These platforms demonstrate significant potential for managing chronic digestive conditions and beyond.