Soft　actuators　are　essential　components　of　various　soft　robots,　and　soft　robots　hold　great　promise　in　the　field　of　medical　applications.　Therefore,　a　soft　pneumatic　actuator　is　proposed　in　this　paper　that　is　specifically　designed　for　use　in　oral　and　maxillofacial　surgery.　The　actuator　is　innovative　in　terms　of　material,　construction　and　appearance,　etc.　It　is　designed　to　use　two　different　pneumatic　network　structures,　allowing　the　different　chambers　of　the　actuator　to　cooperate　and　perform　in　various　working　environments.　In　this　article,　the　design　and　simulation　analysis　of　the　actuator　is　systematically　presented.　The　output　characteristics　of　the　soft　actuator　are　tested　in　ABAQUS　and　the　relationship　between　the　input　air　pressure　and　the　actuator　position　is　investigated.　Compared　to　traditional　single-pneumatic-network-structured　actuators,　this　new　actuator　has　bidirectional　adjustable　bending　capabilities.　Its　bending　deformation　can　reach　up　to　180　degrees,　with　an　adjustable　range　of　90　degrees.　The　actuator　exhibits　high　safety　and　effectiveness,　providing　theoretical　support　for　the　design　of　medical　soft　robots.　©　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.　2024.