Performance Comparison of Soft Robots with Pneumatic, SMA, and Dielectric Elastomer Actuators for Internal Medical Applications

Soft robotics using pneumatic actuators, NiTi shape memory alloys, and dielectric elastomers is transforming internal medical procedures such as minimally invasive surgery, endoscopy, and drug delivery. This study provides a quantitative and qualitative comparison in efficiency (strain, response speed, power density), biocompatibility, and IORT integration. Results show dielectric elastomers achieve the highest strain and efficiency, SMAs deliver superior force in compact forms, and pneumatics offer unmatched compliance but require external pumps. Identified gaps include durability and safety under in vivo conditions. A unified evaluation framework is proposed to accelerate clinical translation and AI-enabled device integration.

کلیدواژه ها:

Soft Robotics ، Pneumatic Actuators ، Shape Memory Alloys ، Dielectric Elastomers