连续体机器人在经人体自然腔道介入治疗中有着非常广泛的应用，但当前介入柔性连续体机器人远端定位精度差，缺乏精准导航手段。因此提出基于电磁定位信息的多段连续体机器人形状重建方法。通过形状重建实现末端精准导航和定位。提出了一种基于三阶贝塞尔曲线的高效的两段主动结构形状重建方法。将贝塞尔曲线求解优化为非线性最小二乘问题，通过线性递减权重的粒子群算法快速准确求解。所提出的方法可以较为精确地拟合双段连续体形状，并具有较好的实时性。结果表明，在弯曲角度过程中，形状重建的平均均方根误差为0.48 mm，为连续体弯曲段长度的0.8%。通过详细的建模和验证结果证明了所提出的用于腔内介入的微型连续机器人形状重建方法的准确性和可靠性。

Continuum robots have been widely used in natural cavity intervention therapy, but the current flexible continuum robots have poor positioning accuracy and lack of accurate navigation means. In response, a multi-segment continuum robot shape reconstruction method based on electromagnetic positioning information was proposed, aimed at achieving accurate end navigation and positioning. An efficient two-stage active structure shape reconstruction method based on third-order Bessel curve was proposed. The solution of Bessel curve was optimized to nonlinear least squares problem, which was solved quickly and accurately by particle swarm algorithm with linear decreasing weights. The proposed method can accurately fit the shape of the two-segment continuum and has good real-time performance. The results show that within the bending angle process, the average root-mean-square error of shape reconstruction is 0.48 mm, which is 0.8% of the length of the continuum bending segment. The accuracy and reliability of the proposed shape reconstruction method for intracavitary interventions using micro-continuum robots are demonstrated through detailed modeling and validation results.