A review of magnetic-driven continuum robots applied to the biomedical field

Magnetic-driven continuum robots, with their advantages of wireless control, precise motion, and miniaturizable structure, are of great significance in the field of minimally invasive interventional procedures in biomedicine. Compared with traditional driving methods, magnetic drive not only enables remote, contactless control, avoiding the infection risks and operational limitations associated with mechanical transmission, but also allows for flexible navigation and precise manipulation in complex and narrow human cavities (such as blood vessels, bronchi, and digestive tracts) while maintaining a millimeter or even sub-millimeter-level shape, significantly improving the safety and accessibility of surgery. This article systematically reviews the latest research progress of magnetically driven continuum robots. First, it outlines their structural types, including designs with embedded permanent magnets, ferromagnetic spheres, microcoils, and magnetic composite soft materials. Then, it analyzes various magnetic drive systems, such as permanent magnet robotic arms, paired coil arrays, distributed electromagnets, and hybrid drive strategies. Further, it summarizes their wide application in biomedical scenarios such as guidewire and catheter navigation, endoscopy, tissue biomechanics measurement, targeted drug delivery, thrombus removal, and multifunctional integrated surgical platforms. Finally, it discusses the current challenges facing this technology, such as limited load capacity, difficulties in real-time navigation, low system integration, and biocompatibility issues. It also looks forward to its future development direction in the deep cross-integration of materials science, robotics, artificial intelligence, and clinical medicine in the current era of artificial intelligence (AI), aiming to provide a reference for research and clinical applications in related fields.