Accurate modeling and positioning of a magnetically controlled catheter tip

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 128×128×128 mm. Results: We demonstrate the ability of the developed mathematical model to accurately position a three-magnet tip catheter within the 128×128×128mm 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.