A Review of Magnetically Controlled Continuum Robots: Principles, Classification, and Applications

Magnetically controlled continuum robots (MCRs) emerge as a novel type of flexible robotic system that overcomes the physical limitations of traditional rigid-link structures, exhibiting high compliance, minimal invasiveness, and high spatial freedom. Through non-invasive, precise manipulation using magnetic fields, MCRs can achieve navigation and positioning in complex and confined microenvironments such as blood vessels and cavities in the human body. Furthermore, MCRs have attracted increasing attention for minimally invasive intervention because they combine structural compliance with remote magnetic actuation. In this study, we first introduce the driving control of MCRs, including the driving principle and driving system. Next, we discuss different types of robots, such as guiding and steering robots, variable stiffness robots, multimodal motion robots, and bio-inspired continuum robots, as well as their fabrication materials and manufacturing processes. Subsequently, we analyze the achievements of these robots in the medical field, including cardiovascular treatment, cavity diagnosis and treatment, and bone and joint treatment. The review also discusses current challenges in control accuracy, biocompatibility, system integration, and clinical translation. Finally, we briefly summarize the research and discuss the current challenges and future development directions of MCRs.