Sharif Digital Repository

The precise positioning of magnetic catheters is critical for a range of medical procedures, ensuring efficacy while minimizing potential complications. This research delves into the position control of a magnetic catheter influenced by an external permanent magnet. Due to the intricate and complex equations describing the plant's behavior, a neural network approach was deemed suitable for modeling. Using a 5 degree of freedom manipulator carrying an external permanent magnet, data was gathered from real-world positionings, tracking the coordination of the magnetic catheter's end. These data points served to train the neural network, subsequently allowing for an effective simulation of the...