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However, the limited effective workspace of an electromagnet\u2010based magnetic navigation system (MNS) influences the practical applications. Herein, the method of steering a flexible MCR in the enlarged workspace of a common MNS for RIRS is presented. First, the field heterogeneity is parameterized to quantitatively analyze its influence on the motion of the MCR. Then, a kinematic model of the MCR is constructed, by coupling the heterogeneous\u2010field and Cosserat\u2010rod models, to predict its large deformation in the enlarged workspace with constraints. The model is validated with the maximum mean error of 0.53\u2009\u00b1\u20090.39\u2009mm for the tip position in all the experiments. It is demonstrated that the effective workspace can be enlarged to 75% of the physical workspace. In addition, experiments in phantoms, which simulate two challenges during RIRS, are performed to prove its manipulability. This study enlarges the effective workspace of the MNS, which helps expand the practical application of the MCR.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202000211","type":"journal-article","created":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T01:33:14Z","timestamp":1617240794000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":59,"title":["A Flexible Magnetically Controlled Continuum Robot Steering in the Enlarged Effective Workspace with Constraints for Retrograde Intrarenal Surgery"],"prefix":"10.1002","volume":"3","author":[{"given":"Daojing","family":"Lin","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"},{"name":"Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences  Shenyang 110016 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingyi","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"},{"name":"Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences  Shenyang 110016 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Niandong","family":"Jiao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"},{"name":"Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences  Shenyang 110016 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhidong","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Advanced Robotics Chiba Institute of Technology  Chiba 275-0016 Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2271-5870","authenticated-orcid":false,"given":"Lianqing","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang 110016 China"},{"name":"Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences  Shenyang 110016 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,3,31]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2012.03.052"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2014.07.003"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1089\/end.2010.0737"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eururo.2014.09.054"},{"key":"e_1_2_8_6_1","first-page":"1283","volume":"24","author":"Srisubat A.","year":"2014","journal-title":"Cochrane Database Syst. 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