Position Control of Magnetic Catheter with External Permanent Magnet, M.Sc. Thesis Sharif University of Technology ; Selk Ghafari, Ali (Supervisor) ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
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...
Cataloging briefPosition Control of Magnetic Catheter with External Permanent Magnet, M.Sc. Thesis Sharif University of Technology ; Selk Ghafari, Ali (Supervisor) ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
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...
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