The field of bio-inspired soft grippers has emerged as a transformative area of research with profound implications for biomedical applications. This book chapter provides a comprehensive overview of the principles, developments, challenges, and prospects of soft grippers that draw inspiration from biological systems. Bio-inspired soft grippers have gained prominence due to their unique characteristics, including compliance, adaptability, and biocompatibility. They have revolutionized the way we approach biomedical tasks, offering safer interactions with delicate tissues and enabling complex operations that were once inconceivable with rigid tools. The chapter delves into the fundamental importance of soft grippers in biomedical contexts. It outlines their significance in surgeries, diagnostics, tissue engineering, and various medical interventions. Soft grippers have the capacity to mimic the intricate movements of biological organisms, facilitating minimally invasive procedures and enhancing patient outcomes. A historical perspective traces the evolution of soft grippers in biomedical research, highlighting key milestones and breakthroughs. From early attempts to emulate the dexterity of octopus tentacles to the latest advancements in soft lithography and biomaterials, the journey has been marked by ingenuity and collaboration across multiple disciplines. Motivations for adopting soft grippers in biomedical applications are explored, emphasizing their ability to reduce invasiveness, increase precision, and provide adaptability to complex anatomical structures. The requirements and challenges in designing grippers fit for medical contexts are outlined, encompassing biocompatibility, sterilization, control, and integration.