There is a growing demand for minimally invasive or even non-invasive diagnostics and therapeutics in modern healthcare. The application of robotics in healthcare brings benefits to the patients by ameliorating suffering and expediting recovery. This course will cover the history and the state-of-the-art of the development and deployment of robotic systems in minimally invasive healthcare. This course will teach the concepts, working principles, constraints, and open challenges in this field. Representative robotic systems will be analysed and compared from the perspectives of human involvement (from teleoperation to AI-powered autonomy), versatility (from disease-specific to general purpose), accessibility (from expensive dedicated systems to low-cost mobile modules), and size scale (from interacting with whole body to interacting with single cells). A library of topics to discuss include da Vinci surgical systems, robotic catheters and endoscopes, swallowable capsules, lab/organ-on-a-chip devices, AI in healthcare, micro/nanorobots, etc.