Vision-Based 3-D Control of Magnetically Actuated Catheter Using BigMag—An Array of Mobile Electromagnetic Coils

Automated steering of endovascular catheters has a potential of improving the outcome of minimally invasive surgical procedures. Nevertheless, actuation, tracking, and closed-loop position control of catheters remain a challenge. In this study, we present a modular framework for a three-dimensional (3-D) position control of magnetically actuated endovascular catheter. The catheter is fitted with a permanent magnet and deflected using externally...