Continuum　manipulators　are　type　of　hyper-redundant　robots　that　without　traditional　rigid-links,　and　their　intrinsic　properties　assure　continuum　manipulators　can　work　in　highly　unstructured　environments.　To　extend　the　potential　applications　of　continuum　manipulators,　this　paper　presents　a　novel　biased　channel　retractable　(BCR)　continuum　manipulator.　BCR　continuum　manipulator　possesses　a　hollow　channel　when　reserving　its　main　backbone,　and　this　structure　provides　the　manipulator　＇swallow＇　functions　without　sacrificing　the　stiffness　generated　by　the　backbone.　This　paper　also　establishes　its　kinematics　model　based　on　constant　curvature　assumption,　and　experimental　result　validates　its　correctness.