The invention provides an autonomous propulsion type soft
robot main body, which comprises a
pipe body, wherein the inner part of the
pipe body is provided with, in the axial direction, a
pipe body cavity and: at least one propulsion structure, wherein the at least one propulsion structure includes a first driving unit, a second driving unit and a third driving unit which are fixedly and uniformlyarranged on the
peripheral wall of the pipe
body cavity in the axial direction of the pipe body and relative to the axial center of the pipe
body cavity, the first driving unit, the second driving unit and the third driving unit can respectively extend or contract in the axial direction of the pipe body; at least two supporting structures, wherein at least one propulsion structure is arranged between every two adjacent supporting structures, the supporting structures are fixedly connected with the propulsion structures and are arranged on the outer
peripheral wall of the pipe body cavity, andis used for fixing at least one end of the main body of the autonomous propulsion type soft
robot on the cavity, thereby providing support for the main body of the autonomous propulsion type soft
robot. The autonomous propulsion type soft robot main body can reduce the harm to the
human body cavity and reduce the operation risk.