Peter R. Werp,Walter M. Blume,Francis M. Creighton, IV,Rogers C. Ritter
申请号：
US12628711
公开号：
US08088129B2
申请日:
2009.12.01
申请国别(地区):
US
年份:
2012
代理人:
摘要：
The movement of a catheter through a medium, which may be living tissue such as a human brain, is controlled by mechanically pushing a flexible catheter having a magnetic tip through the medium and applying a magnetic field having a magnitude and a direction that guides the mechanically-pushed catheter tip stepwise along a desired path. The magnetic field is controlled in a Magnetic Stereotaxis System by a processor using an adaptation of a PID (proportional, integral, and derivative) feedback method. The magnetic fields are applied by superconducting coils, and the currents applied through the coils are selected to minimize a current metric.
