Background: Pharmaceutical preparation is a kind of finished pharmaceutical product made by combining raw materials with various auxiliary materials in a certain form. At present, the field of pharmaceutical preparations can meet most drug needs, but there are some limitations. It is difficult to realize the production of personalized preparations. Because 3D printing technology has the ability of precise dose control and flexible shape customization, it can realize precise control of drug dosage, release behavior and local targeting in pharmaceutical preparations. Therefore, in medicine, 3D printing technology is increasingly used in the field of pharmaceutical preparations. 3D printing technology provides an important means for new drug printing and personalized drug customization of pharmaceutical preparations in the medical field. The 3D printing technology of drugs will inject fresh vitality into individualized drug delivery. Therefore, the development trend of 3D printing technology for pharmaceutical preparations has attracted more and more attention. Objective: In order to optimize the wide application of 3D printing technology in pharmaceutical preparation, 3D printing technology such as inkjet 3D printing technology, extrusion 3D printing technology and laser 3D printing technology were studied. Methods: In this paper, the selection, classification and introduction of 3D printing technology such as inkjet 3D printing technology, extrusion 3D printing technology and laser 3D printing technology in pharmaceutical preparations are reviewed. Results: Through the investigation of various patents of 3D printing technology applied to pharmaceutical preparation in medicine, this paper summarizes and analyzes the main problems of 3D printing technology applied to pharmaceutical preparations, such as printing stability, production quality, etc. In addition, the development trend of 3D printing technology is also discussed. Conclusion: Optimization of various 3D printing technologies applied to pharmaceutical preparation in medicine is beneficial to improve printing stability and production quality in medicine. More related patents will be invented in the future.

Background: Manipulator is widely used in manufacturing industry because it can imitate some movements of human hands, and replace human hands to complete some high-risk and heavy labor or carry out man-machine cooperation. Flexible soft manipulator made of flexible materials is a new field of the manipulator. Investigation of the material and driving mode of the flexible soft manipulator is helpful to improve the flexibility and force position control when grasping objects. Therefore, people pay more and more attention to the development trend of the flexible soft manipulator. Objective: In order to optimize the driving mode and materials of flexible soft manipulator, pneumatic driven flexible soft manipulator and variable stiffness flexible soft manipulator are developed. Methods: This paper summarizes the selection, classification and introduction of patents related to pneumatic drive and variable stiffness in flexible soft manipulator. Results: Through the investigation of various patents of flexible soft manipulators, the main existing problems in flexible soft manipulators, such as small grasping range and insufficient driving force are summarized and analyzed. In addition, the development trend of flexible soft manipulators are also discussed. Conclusion: The optimization of the driving mode and materials of the manipulator is beneficial to improve the driving force and grasping force. More related patents will be invented in the future.