Method and apparatus for magnetically controlling motion direction of a mechanically pushed catheter

A method for stepwise movement of a catheter having a magnetic tip in a magnetic field, the method comprising the steps of:

• (a) selecting a desired path of the catheter through living tissue;
• (b) inserting the catheter tip into the living tissue;
• (c) determining actual positions of the magnetic tip and associated correction vectors, the correction vectors representing differences between locations on the desired path and the actual positions of the magnetic tip;
• (d) storing said correction vectors in a memory;
• and
• (e) applying a magnetic field adjusted to achieve, movement of the magnetic tip at least approximately along the desired path, the adjustment depending upon at least one stored correction vector.

A device for guiding a catheter having a magnetic tip through a medium, the device comprising:

• (a) a helmet having a cavity configured to encompass a medium through which a catheter is to be guided;
• (b) a magnetic field generator for generating a magnetic field in the cavity;
• (c) a position sensor for sensing a location of a magnetic tip of a catheter in the cavity and generating a signal indicative of the sensed location;
• (d) an advancement mechanism for pushing the magnetic tip of the catheter through the medium;
• and
• (e) a processor responsive to the signal from the position sensor and having an operator control input, the processor being configured to control the magnetic field generated by the magnetic field generator in response to commands input via the operator control input and the signal received from the position sensor.