<p>Biodegradable materials and soft robotics have each shown significant promise in advancing minimally invasive surgery (MIS), yet current literature lacks an integrated analytical perspective on how these two domains converge to create next-generation medical devices. This review addresses that gap by critically synthesizing research on biodegradable polymers, metals, and composites within the functional context of soft robotic actuation, sensing, and surgical interaction. The analysis highlights how degradation behavior, mechanical compliance, and biocompatibility influence device performance during and after MIS procedures, while identifying limitations in current prototypes, including stability, long-term controllability, and clinically relevant load handling. By comparing design strategies, material–structure interactions, and emerging clinical demonstrations, this work delineates the technological barriers, such as inconsistent biodegradation kinetics and limited multifunctional integration, that must be overcome for real-world translation. The review contributes a structured framework for understanding how biodegradable soft robotic systems can minimize secondary surgeries, improve patient safety, and expand the functional capabilities of MIS tools. It also outlines specific research directions required to bridge engineering advances with clinical adoption, establishing a clearer roadmap for future interdisciplinary development.</p>