A position control method for a robotically assisted magnetic navigation system to improve the pushability of a magnetic catheter by maximizing magnetic force

We propose a novel position control method (PCM) for the Robotically Assisted MAgnetic Navigation (RAMAN) system to improve the pushability of the magnetic catheter (MC) by maximizing the magnetic force. We expressed the magnetic force acting on the magnetic catheter as the position and the current flowing through each of the electromagnets of the RAMAN system. Next, we formulated a PCM as an optimization problem to maximize the MF. From the proposed PCM, we can determine the position that generates the maximum MF in the desired direction within the region of interest of the RAMAN as well as the required applied current of each electromagnet. Finally, we performed a navigation experiment for the MC along the aorta to the right coronary artery in a cardiac vascular phantom model, and we showed that the proposed PCM can navigate through the vascular phantom effectively without buckling of the MC.