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Localization of Magnetic Catheter Tip Using an Array of Magnetic Sensors

Sharifi Sadati, Ali | 2023

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 56300 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat Pishkenari, Hossein
  7. Abstract:
  8. Minimally invasive surgery is highly valued mainly due to the reduction of the patient’s recovery period. Catheters are among the most important tools in minimally invasive surgeries. Catheter is a flexible tool that has the ability to pass through difficult paths. In common localization methods, fluoroscopy is used to determine the position of the catheter’s tip. One main disadvantage of this method is that it is very dangerous for therapists who are exposed to X-ray radiation for long periods of time. A magnetic catheter is created by adding a magnet to the end of the catheter. The possibility of guiding magnetic catheter by an external magnetic field, controlling the applied force and torque to catheters operating tip, high plasticity and possibility of creating complex curves, and localizing without the need of radiation has made the magnetic catheters a popular research topic. Knowing the position and orientation of the magnetic catheter is necessary for correct guidance of the tool to the target area, and to prevent possible damage caused by hitting soft tissue by the tool. Therefore, in this research a static method and a dynamic method are presented for the localization of magnetic catheters. In static localization, using the mathematical model of a permanent magnet, the magnetic field has been calculated at sensors positions. Then by using the work space symmetry and magnetic field equations of the permanent magnets, a neural network-based method for localization is proposed. According to the simulations, the proposed method has reduced localization error comparing to the conventional methods. Also, the proposed method has been validated using experimental tests. In dynamic localization, catheter has been modeled using the Cosserat-Rod theory which leads to a system of partial differential equations. This exact model is approximated by a system of lumped first order ordinary differential equations. Then, localization is done using Kalman filter and based on the developed lumped model. In the method, the magnetic field of the permanent magnet which is placed at the end of the catheter is measured and used in the algorithm
  9. Keywords:
  10. Localization ; Neural Network ; Kalman Filters ; Permanent Magnet ; Catheter ; Magnetic Sensor ; Sensors Array

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