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Position Control of Magnetic Catheter with External Permanent Magnet

Gholamali Sinaki, Mahbod | 2023

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 56469 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Selk Ghafari, Ali; Nejat Pishkenari, Hossein
  7. Abstract:
  8. 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 plant's complex dynamics, exhibiting a strong correlation with the real plant's responses. In controlling the simulated plant, two methods were assessed: a traditional PID controller and a neural network adaptive controller. Comparative analysis revealed the neural network adaptive controller's superiority in accuracy and responsiveness. Furthermore, when subjected to eight Gaussian disturbances, the adaptive controller maintained its commendable performance, underscoring its potential for real-world applications. This study showcases the efficacy of intelligent controllers in the realm of magnetic catheter positioning and the advantages of neural network modeling for intricate biomedical systems
  9. Keywords:
  10. Position Control ; External Permanent Magnet ; Neural Network ; Proportional-Integral-Derivative (PID)Controller ; Advanced Control Techniques ; Magnetic Catheter ; Neural Network Simulation ; Neural Network Adaptive Controller ; Biomedical Systems

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