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After the Genpei War of 1180 to 1185, in which the Minamoto clan prevailed over the Taira clan, the Kamakura Shogunate was formed, leaving the emperors and court nobility as mere figureheads, while the real power was wielded by the samurai who served the Daimyo (a vassal of the Shogun). Samurai without a lord or master were considered rōnin — also known as a “drifter” or “wanderer” — who resorted to a life of crime to maintain their ruthless aura and keep themselves from starving. Because of a general lack of knowledge, romanticizing samurai (particularly rōnin) in fictional works has become rather common in recent decades. Hence, why Osamu Tezuka — the mangaka of Dororo — decided to amalgamate the samurai heritage with surrealistic demons to create an interesting narrative about a boy (Hyakkimaru) who roams the countryside to recover the limbs that were “stolen” from him, due to his father’s plead for power.
In this regard, the story follows a predictable pattern of presenting new demons/monsters to be defeated by the accomplished samurai (Hyakkimaru) and the cunning orphan (Dororo). Biwamaru — an old, blind man — also swoops in from time to time to help the two when the circumstances seem too dire (a fine example of plot-armor).