Kinematic modeling and Control of a magnetic Catheter by permanent magnet

Magnetic catheters have recently been widely used in biomedicine. One of these cases is minimally invasive cardiac surgery, in which a magnetic catheter is controlled using two six-degree-of-freedom manipulators, each with a permanent magnet on the end effector. In this project, after the kinematic modeling of the magnetic catheter and the external magnetic field created by the permanent magnet, we will design a controller for it, and we will try to implement it in a practical way after designing and fabricating the manipulators.