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Conventional approaches rely on printing tissues outside the body for later implantation but are limited by geometric mismatch, construct fragility, and invasive surgery. In situ bioprinting addresses these limitations by depositing cells and biomaterials directly at defect sites, enabling patient\u2010specific repair and improved tissue integration. Building on this paradigm, Minimally Invasive Bioprinting (MIB) targets internal organ regeneration through small incisions or natural orifices. This review defines a technological roadmap from handheld bioprinting tools to advanced MIB systems, identifying soft robotics as the primary hardware enabler for navigation within confined anatomical environments. We examine essential technology pillars for MIB, including soft actuation, sensing, real\u2010time imaging, computational modeling, intelligent control, and bioink engineering. 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