Method for controlling a movement of a medical device in a magnetic field

A method for controlling a movement of a medical device in a magnetic field, the medical device comprising a set of coils, wherein the method comprises:

• determining a torque that needs to be applied onto the medical device such that the medical device carries out the movement,
• determining a minimum current that needs to be supplied to each coil of the set of coils, respectively, to reach the determined torque by solving an optimization problem, and
• supplying the determined minimum current to each coil of the set of coils, respectively, such that the medical device carries out the movement
• wherein the optimization problem is defined as follows:
• I
• *
• =
• arg
• ⁢
• min
• I
• ⁢
• 
• τ
• coils
• -
• τ
• des
• 
• 2
• +
• α
• 
• ⁢
• I
• 
• R
• 2
• wherein:
• I represents a current supplied to each coil of the set of coils, respectively,
• τcoils represents a total torque generated by the set of coils when being supplied with the current I,
• τdes represents the torque that needs to be applied onto the medical device such that the medical device carries out the movement, and
• R represents a resistance of each coil of the set of coils
• α represents a constant determined using a grid search to find a best fitting.