Image-based feedback control of a magnetic catheter to enhance the path-following capability of the position and orientation at its distal part

We have proposed a novel image-based feedback control method to enhance the path-following capability for position and orientation of a magnetic catheter at its distal part. The proposed control method uses only a navigation status of the magnetic catheter for manipulation without utilizing complex analytical models. By comparing the positions of two markers of the magnetic catheter relative to a predefined path, we classify the navigation status of the magnetic catheter into four cases and determine the external magnetic field and feeding velocity according to a proposed control algorithm. Finally, we conduct a path-following experiment in an environment with multiple branches to verify the improved position and minimization of the orientation error regarding the path-following capability of the proposed control method.