Key Technologies and Applications of Soft Robotics for Medical Care Settings

Abstract

With the increasing investment in research into soft robotics for medical contact applications, the limitations of traditional robots in the medical field and the emerging demands driven by advancements in modern medical technology are becoming increasingly apparent. This places higher demands on the alignment between the core characteristics of soft robots and the human-robot interaction requirements during various medical contact scenarios, thereby highlighting their practical significance in enhancing medical precision, reducing medical risks and enabling personalised treatment. This paper outlines the core classifications of medical contact scenarios, including three major types: invasive, surface/wearable, and non- invasive internal contact. It systematically summarises the key technologies for soft robots in medical contact applications, covering research findings, technical principles and existing limitations across five core areas: flexible actuation and deformation, flexible sensing and perception, materials and structural design, control methods, and system integration and miniaturisation. It provides an in-depth analysis of the current status and value of soft robotics in practical applications, such as surgical settings, rehabilitation medicine, targeted diagnosis, treatment and drug delivery, and nursing and physiotherapy. Furthermore, it identifies the major challenges and development opportunities faced at the technical, clinical and multidisciplinary integration levels, whilst offering an outlook on future trends.