Recently, in the minimally invasive surgery field, magnetic soft continuum robots (MSCRs) have been actively studied, which are driven by an external magnetic field with a small magnet attached to the tip of the SCR. In addition, MSCR with opposite magnets (MSCR-OMs) has been reported for high dexterity, which has a small permanent magnet attached to the end of the MSCR and an additional opposite magnet fixed in the middle. To overcome the limitations of the existing MSCR and MSCR-OM and improve the workspace, we proposed a magnetic soft continuum robot with a movable opposite magnet (MSCR-MOM) with 2.2mm diameter and 10cm length, that can change the position of the opposite magnet. In this study, an analytical model of the proposed MSCR-MOM was presented, and through simulation and various experiments, its characteristics were analyzed and the workspace expansion was validated. In addition, the clinical applicability of the proposed MSCR-MOM was verified through phantom experiments. In the future, we expect that the proposed MSCR-MOM will be developed into a medical catheter that can be applied in various procedures through miniaturization and various clinical application studies. IEEE