Soft, bio-integrated materials and devices exhibit the ability to collect physiological signals and offer therapeutic functions, posing a substantial impact on our understanding of biology and paving the way for precision medicine. With the assistance of advanced ultrasound technology, the innovative integration holds immense promise for sensing, modulation and actuation in deep tissues and complex anatomical structures that are otherwise difficult to approach. In this talk, I will highlight our recent advances in bioresorbable, shape-adaptive materials structures that enable real-time monitoring of deep-tissue homeostasis using ultrasound instruments. I will showcase another example of a bioresorbable implant based on radio-frequency coupling for chemical sensing. I will then summarize our previous efforts in materials design that lead to programmable dual responsive soft actuators. Finally, I will discuss opportunities in leveraging functional soft materials, ultrasound imaging and its various forms of energy for measuring biosignals, provide targeted modulation and programmable actuation to decipher biological systems and improve healthcare.