软体机器人在医学领域的应用

软体机器人具有自由度高、适应性强、安全性高等优点，已成为机器人领域的研究热点；且因其采用软材料制成，与人体相容性较好，在医学领域中也具有广泛应用前景。本研究对软体机器人的驱动方式、建模控制、制造方法、变刚度方法等关键技术作了总结与分析；对软体机器人在医学领域如外科手术、康复治疗、药物输送、心脏设备等的典型应用及发展现状进行综述。针对现有医疗软体机器人存在的缺陷，总结出其面临的挑战，并提出对医疗软体机器人的展望。

Application of soft robot in medicine

Abstract: Soft robot which has become a research focus in the field of robots because of its high degree of freedom, strong adaptability and high security has a wide application prospect in medicine for it is made of soft materials and has good compatibility with human body. Herein the key techniques of soft robot, such as driving mode, modeling control, manufacturing method and variable stiffness method, are summarized and analyzed. The typical applications and development status of soft robot in medicine such as surgery, rehabilitation treatment, drug delivery, cardiac equipment, are surveyed. In view of the defects of existing soft robots, the challenges and future trends of soft robots in medicines are also discussed.