Magnetically Actuated Continuum Robots: From Engineering to Clinical Translation

Magnetically actuated continuum robots (MACRs) have emerged as a promising approach for minimally invasive surgery. By using external magnetic fields to apply torques and forces at the instrument tip, MACRs move actuation outside the patient, thus reducing the mechanical complexity of the robot. This architecture enables miniaturization, improved compliance, and improved steering capabilities, especially for navigating intricate intravascular or endoluminal pathways. Despite substantial progress in functional materials, robotic archetypes, and magnetic field generation platforms, effective clinical translation requires holistic consideration of surgical workflows, intraoperative localization, and operator interaction. Integrating these engineering advances into routine clinical practice remains an ongoing challenge. This review provides a comprehensive synthesis of recent advances in MACRs from a clinical perspective, highlighting technologies that accelerate their translation into minimally invasive surgery. The fundamental working principles of MACRs are first outlined, followed by a task- driven categorization of robotic designs. The emerging strategies for intraoperative localization and motion control at varying levels of autonomy are then evaluated. Furthermore, representative applications across physiological systems are summarized. Finally, key challenges are highlighted to elucidate current technological boundaries and provide a roadmap for future research.