Flexible actuator for assisting ultrasonic examination, connecting device and robot

The utility model discloses a flexible actuator for assisting ultrasonic examination. The flexible actuator comprises a flexible body and a communicating pipe, a first cavity is formed in the flexible body, the communicating pipe is installed at the end of the flexible body, and one end of the communicating pipe penetrates through the first cavity; the communicating pipe is used for guiding external liquid or gas into the first cavity, and then the flexible body is driven by pressure intensity to deform. A radial expansion prevention mechanism is further installed in the flexible body, and the radial expansion prevention mechanism is used for limiting radial expansion of the flexible body when the flexible body deforms and can only conduct telescopic movement in the axial direction of the flexible body. The auxiliary device can assist medical personnel in ultrasonic examination or other medical injection and the like, so that the diagnosis efficiency and accuracy are improved. 本实用新型公开一种用于辅助超声检查的柔性执行器，包括柔性体、连通