Patent ID: 8027714
Filing Date: 2011-09-27
Classification: A61B,A61M

Abstract:
1. An apparatus for controlling the movement of a catheter inside a body of a patient, comprising: a magnetic field source for generating a magnetic field, said magnetic field source comprising: a servo system controller configured to control extension and retraction of at least said first magnetic core to position said first magnetic core of said first semi-spherical symmetry cluster, said servo system controller configured to receive position data regarding said current position of said distal end of a catheter, said servo system controller further configured to control currents in said first, second, third, fourth, fifth, sixth, seventh and eighth coils to control a movement of a distal end of a catheter to a desired position with torque control fields according to the following equation: and with force control fields according to the following equation: where B XY is the field in an XY plane, and θ is angle of spherical rotation of the first, second, third, fourth, fifth, sixth, seventh and eighth coils from the XY plane; said distal end responsive to said magnetic field to move to said desired position.