A position control method for a robotically assisted magnetic navigation system to improve the pushability of a magnetic catheter by maximizing magnetic force
نویسندگان
چکیده
We propose a novel position control method (PCM) for the Robotically Assisted MAgnetic Navigation (RAMAN) system to improve pushability of magnetic catheter (MC) by maximizing force. expressed force acting on as and current flowing through each electromagnets RAMAN system. Next, we formulated PCM an optimization problem maximize MF. From proposed PCM, can determine that generates maximum MF in desired direction within region interest well required applied electromagnet. Finally, performed navigation experiment MC along aorta right coronary artery cardiac vascular phantom model, showed navigate effectively without buckling MC.
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ژورنال
عنوان ژورنال: AIP Advances
سال: 2023
ISSN: ['2158-3226']
DOI: https://doi.org/10.1063/9.0000390