Ilham Saputra, Aulia Fajrin, Ulfi Sartika Lubis, Adhan Efendi
Soft robotic grippers are increasingly prominent in surgical robotics, offering a compliant and adaptable alternative to rigid instruments for manipulating biological tissue with reduced force concentration, thereby enhancing safety in minimally invasive surgery (MIS). This systematic review assesses the development and implementation of these technologies in medical contexts, focusing on actuation methods, sensor integration, artificial intelligence (AI)-based control, and clinical outcomes. The analysis highlights adaptive performance, particularly in tasks requiring precision grasping, retraction, or manipulation of dynamic tissue. Following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA 2020) guidelines, this review includes 24 peer-reviewed articles published between 2013 and 2025. Key findings reveal widespread adoption of pneumatic, tendon-driven, and hybrid actuators with embedded tactile sensors for force feedback. The application of advanced materials such as silicone elastomers, hydrogels, and shape-memory alloys has enhanced compliance and biocompatibility. Moreover, integrating deep learning and reinforcement learning algorithms has improved autonomous control and decision-making capabilities across variable surgical environments. The review identifies ongoing challenges, including standardizing sterilization protocols, achieving consistent real-time feedback, and integrating soft systems with established surgical platforms, such as the da Vinci robot. Soft robotic grippers have demonstrated reduced tissue trauma, improved ergonomic adaptability, and accelerated post-operative recovery in simulation and experimental studies. Emerging applications include remote surgery, AI-assisted suturing, and advanced tissue manipulation enabled by hybrid gripper designs. Soft robotic grippers represent a significant advancement in surgical safety, precision, and automation, supporting the development of intelligent medical instruments. This development is currently being explored in surgical applications, highlighting its current state of advancement and implementation. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd. 2026.
Department of Mechanical Engineering, Vocational School, Universitas Gadjah Mada, Yogyakarta, Indonesia; Department of Mechanical Engineering, National Yunlin University of Science and Technology, Douliu, Taiwan; Batam Polytechnic, Batam Centre, Kepulauan Riau, Kota Batam, Indonesia; Master of Economic Education Study Program, Universitas Negeri Malang, Malang, Indonesia; Department of Mechanical Engineering Education, Faculty of Engineering, Universitas Negeri Surabaya, Surabaya, Indonesia
