Enhancing the functionality of soft continuum robots for minimally invasive and endoluminal interventions: a review

Comprehensive Summary

The paper by Bacchetti et al. (2026) provides a comprehensive review of the development and clinical potential of soft continuum robots (SCRs) for minimally invasive and endoluminal medical procedures. The authors argue that while soft robotic systems offer superior flexibility and compliance compared to traditional rigid instruments, their widespread clinical adoption is currently limited by challenges in functional integration, miniaturization, and reliability. Soft continuum robots are inspired by biological structures such as octopus arms and elephant trunks, enabling them to navigate complex and tortuous anatomical pathways with continuous curvature rather than discrete joints. The review evaluates key technical components required to make these robots clinically viable, including actuation mechanisms (tendon-driven, fluidic, smart-material, and magnetic systems), embedded sensing technologies for shape and force feedback, and advanced modeling frameworks, such as Cosserat rod theory, for real-time control. The authors emphasize that integrating these systems into a single compact device—capable of navigation, sensing, and therapeutic intervention—remains the major engineering bottleneck. Additionally, issues such as sterilization, durability of soft materials, and regulatory approval processes continue to slow the translation of laboratory prototypes into clinical practice.

Outcomes and Implications

The advancement of soft continuum robotic systems has significant implications for the future of minimally invasive medicine. Because these robots are inherently compliant and able to conform to surrounding tissues, they can reduce the risk of perforation, bleeding, and other iatrogenic injuries when navigating delicate anatomical regions such as the lungs, gastrointestinal tract, and vascular system. Their ability to bend along complex pathways allows physicians to reach previously inaccessible areas of the body, improving the diagnostic yield of biopsies and enabling more precise delivery of therapies to small or deep-seated lesions. Soft robots also support the expansion of natural-orifice and other incision-free surgical approaches, which can reduce postoperative pain, shorten hospital stays, and lower infection risk. Furthermore, the integration of sensing, imaging, and therapeutic tools into a single soft robotic platform enables real-time decision-making during procedures, potentially reducing the need for repeat surgeries and improving treatment accuracy. In the long term, advances in soft materials and manufacturing may reduce system costs, increasing accessibility to robotic-assisted interventions across a wider range of healthcare settings.