Accurate modeling and positioning of a magnetically controlled catheter tip

作者：Le Vi N T^*; Nguyen Nghia H; Alameh Kamal; Weerasooriya Rukshen; Pratten Peter

来源：Medical Physics, 2016, 43(2): 650-663.

DOI：10.1118/1.4939228

• force
• torque
• magnetic navigation
• electromagnet
• minimally invasive technique
• atrial fibrillation

Purpose: This paper represents the initial phase of a proposed operator-friendly semiautomatic method for positioning and directing an intravascular three-magnet tip catheter in the human heart using an electromagnetic system.
Methods: A predictive computer algorithm based on a comprehensive mathematical model is developed, which accurately calculates the magnetic field generated by the electromagnet system as well as the magnetic torques and forces exerted on a three-magnet tip catheter, and generates the necessary electromagnet currents for arbitrary displacement and deflection of the catheter tip within a workspace of 128 x 128 x 128 mm
Results: We demonstrate the ability of the developed mathematical model to accurately position a three-magnet tip catheter within the 128 x 128 x 128 mm workspace of a 3D eight-electromagnet system.
Conclusions: The ability of the developed mathematical model in predicting the displacement, direction, and deflection of the catheter tip as a function of the electromagnet current values has been verified through experimental results.

• 出版日期2016-2