The presently disclosed delivery systems utilize microtools, also referred to as theragrippers, to deliver a drug or other therapeutic agent to targeted tissue. More particularly, the drug delivery system and methods provide a delivery system that is capable of anchoring to a tissue site and then delivering a drug or therapeutic agent to the tissue directly to or in the vicinity of the site over an extended period of time. Any number of theragrippers may be deployed as desired to deliver different doses of a desired drug or therapeutic agent. The theragrippers also can be biodegradable such that they remain in place for an extended period of time and then degrade without adversely affecting the surrounding tissue.
