| 摘要 |
<p>The movement of a catheter (34) through a medium, which may be living tissue such as a human brain, is controlled by mechanically pushing a flexible catheter (34) having a magnetic tip (30) through the medium, and applying a magnetic field having a magnitude and a direction that guides the mechanically pushed catheter tip (30) stepwise along a desired path. The magnetic field is controlled in a magnetic stereotaxis system (10) by a processor (90) using an adaptation of a PID (proportional, integral, and derivative) feedback method. The magnetic fields are applied by super-conducting coils (Fig. 2), and the currents applied through the coils (Fig. 2) are selected to minimize a current metric.</p> |
