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Continuum manipulators coupled with magnetic actuation can be precisely maneuvered inside the human body. Recently, variable stiffness manipulators (VSMs) have been introduced for enhanced dexterity and safe navigation. This study presents a new design of a magnetically actuated VSM based on shape memory polymer (SMP) springs. The VSM has a silicone backbone enclosed within a spring made of SMP that can change in length with stiffness change that is triggered by Joule heating. The stiffness and thermal characteristics of the VSM are studied using analytical models and experiments. Subsequently, a one\u2010segment VSM and a two\u2010segment VSM having outer diameters of 9 and 10\u2009mm and lengths of 15 and 25\u2009mm, respectively, capable of extending to four times their length are designed. The VSM can be deployed in a compact form and extended to achieve variable bending curvatures in soft and rigid states, which can facilitate instrument insertion and reduce operation invasiveness. Potential clinical applications are demonstrated by incorporating miniature camera, biopsy tool, and laser optical fiber in the working channel of the VSM and coupled with robotic magnetic actuation.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200465","type":"journal-article","created":{"date-parts":[[2023,3,16]],"date-time":"2023-03-16T08:09:28Z","timestamp":1678954168000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["A Magnetically Actuated Variable Stiffness Manipulator Based on Deployable Shape Memory Polymer Springs"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7251-0796","authenticated-orcid":false,"given":"Theodosia Lourdes","family":"Thomas","sequence":"first","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente  7500 AE Enschede The Netherlands"}]},{"given":"Jonathan","family":"Bos","sequence":"additional","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente  7500 AE Enschede The Netherlands"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7154-7893","authenticated-orcid":false,"given":"Juan J.","family":"Huaroto","sequence":"additional","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente  7500 AE Enschede The Netherlands"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8600-6715","authenticated-orcid":false,"given":"Venkatasubramanian","family":"Kalpathy Venkiteswaran","sequence":"additional","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente  7500 AE Enschede The Netherlands"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4961-0144","authenticated-orcid":false,"given":"Sarthak","family":"Misra","sequence":"additional","affiliation":[{"name":"Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente  7500 AE Enschede The Netherlands"},{"name":"Surgical Robotics Laboratory Department of Biomedical Engineering University of Groningen and University Medical Centre Groningen  9713 GZ Groningen The Netherlands"}]}],"member":"311","published-online":{"date-parts":[[2023,3,16]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_1"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"e_1_2_8_4_1","unstructured":"M. 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