This　paper　provides　a　comprehensive　review　of　continuum　robots　in　the　medical　field,　focusing　on　their　applications　in　various　surgical　applications　such　as　brain　surgeries,　ophthalmic　surgeries,　visceral　surgeries,　and　other　organ　surgeries.　It　highlights　these　robots＇　categorization,　mechanical　design,　and　control　strategies,　emphasizing　the　challenges　and　advancements　in　position　and　force　control.　We　summarize　the　existing　developments　and　provide　perspective　for　the　future　of　continuum　robots　by　discussing　the　current　challenges.　　©　2023　IEEE.