Untethered small robots can access and navigate non-invasively hard-to-reach, narrow areas within the body where they can perform therapeutic and diagnostic tasks. These robots represent a transformative approach in medical intervention by potentially reducing or even eliminating the need for invasive procedures. Over the past decade, synthetic rigid robots, ranging from several millimeters to a few micrometers in size, have been developed for various medical applications. More recently, advances in the design of soft-bodied miniature robots have brought the clinical translation of these technologies closer to reality. However, significant challenges remain before these tiny robots can be widely adopted in clinical settings. Overcoming these obstacles will require a collaborative, interdisciplinary approach involving expertise in engineering, materials science, biology, and clinical practice.