A variable stiffness magnetic catheter made of a conductive shape memory polymer for minimally invasive surgery

A hollow variable stiffness thread including a flexible inner tube, a conductive shape memory polymer (CSMP) layer arranged around the inner tube forming a variable stiffness zone, a flexible encapsulation layer arranged around the CSMP layer, and a first electrode and a second electrode, at least a portion of the first and the second electrodes being in contact with the CSMP layer.