Traditional drug delivery systems, both passive and active, have improved therapeutic outcomes by controlling drug release and reducing exposure to healthy tissues. However, their clinical impact is often constrained by non-selective distribution, difficulty in overcoming biological barriers and the need to administer high doses, with possible systemic toxicity. In this context, biomedical microrobots represent a promising step forward by enabling active manipulation and precise localization through external stimuli, bringing drug delivery closer to the vision of the “magic bullet”. Among available actuation modalities, ultrasound is particularly attractive for in vivo applications due to its penetration depth, non-invasiveness, large material design space and compatibility with medical imaging techniques.