The present invention relates to apparatus (100) for controlling the movement of a catheter (190) through an object (180) and for localizing the catheter (190) within the object (180), said catheter (190) comprising a magnetic element (194) at or near its tip (192). The invention applies the principles and hardware of magnetic particle imaging (MPI) both for catheter localization and catheter movement and provides appropriate control means (150) for controlling the signal generator units to generate and provide control currents to the respective field coils to generate appropriate magnetic fields for moving the catheter through the object in a direction instructed by movement commands and for localizing the catheter within the object.