Swallowable robots offer a promising frontier for biomedical applications such as targeted drug delivery or sampling within the gastrointestinal tract. This work presents a compact, magnetically actuated crank-slider mechanism fully embedded in a size 000 pharmaceutical capsule (length:25.8 mm, diamater:9.9 mm) that is capable of (1) targeted delivery of substances (sucrose) and (2) mechanical sampling or injection via controlled needle deployment. Both actions are validated through proof-of-concept tests. The device features a permanent magnet attached to a 3D-printed crank-slider system, actuated externally by four electromagnetic coils. This magnetic control strategy allows for the development of compact, electronics-free, and more biocompatible robotic systems. This study presents a fully realized, low-cost, functional prototype that can be scaled and adapted for different applications. The system acts as a programmable, wireless mini-actuator operating without onboard power. Its simplicity, modularity, and remote activation make it relevant to biomimetic devices, and intelligent prosthetic tools for biomedical use.