Three-dimensional (3D) printing has revolutionized the design and production of customized scaffolds, but the minimally invasive implantation of 3D-printed structures into the human body remains challenging. This has prompted the exploration of innovative materials and technical solutions. Shape-memory polymers, as advanced intelligent materials, exhibit considerable potential in minimally invasive surgical applications. Herein, we developed a novel thermosetting shape-memory polymer, poly(L-lactic acid)-trimethylene carbonate-glycolic acid (PLLA-TMC-GA), for the fabrication of bioengineered scaffolds with body temperature-activated shape-memory functionality. We comprehensively evaluated the mechanical properties, thermal stability, shape-memory capabilities, biocompatibility, biodegradability, and 3D printing performance of PLLA-TMC-GA terpolymers with various compositions. The results indicate that PLLA-TMC-GA exhibits exceptional shape-memory performance, adjustable material properties, favorable biocompatibility, and the potential for controlled biodegradation and reabsorption. The use of PLLA-TMC-GA as a biodegradable shape-memory polymer allows the reduction of implant volume, simplifies implantation, and enables on-demand activation at body temperature. These characteristics present new opportunities for the advancement of minimally invasive surgical techniques. (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic) (3D) (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic). (sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic) 3D (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic). (sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic). (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)-(sic) (L-(sic)(sic))-(sic)(sic)(sic)(sic)(sic)(sic)(sic)-(sic)(sic)(sic) (PLLA-TMC-GA) (sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic). (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)PLLA-TMC-GA(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic),(sic)(sic)(sic)(sic),(sic)(sic)(sic)(sic)(sic)(sic),(sic)(sic)(sic)(sic)(sic),(sic)(sic)(sic)(sic)(sic)(sic) 3D (sic)(sic)(sic)(sic). (sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic) PLLA-TMC-GA (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic). (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic), (sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic)(sic).