Control method for a robotic device with an ultrasound apparatus and robotic device

US10893909B2 · kind B2 · utility

Assignee

• Siemens Healthcare Limited · DE

Inventors

• Peter Fischer · Bad Neustadt an der Saale, DE
• Philip Mewes · Nürnberg, DE
• Holger Mönnich · Friedberg, DE
• Gunter Muller · Karlsruhe, DE

Key dates

• Filing date: Sep 28, 2018
• Grant date: Jan 19, 2021
• Expiry date: May 23, 2039

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/378
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A method is provided for controlling a robotic device, of which the end effector arranged on a kinematic chain interacts with an object, and including an ultrasound apparatus registered to the robotic device for movement capture of the object. Ultrasound image data of the object is captured. The relative movement of the object is determined on the basis of the ultrasound image data using a mathematical method. The absolute movement is determined through registration to a planning data set. Movements of the object are compensated for in the context of the interaction of the end effector of the robotic device with the object. Future movements of the object and a positioning of the end effector of the robotic device adapted thereto are predicted and the robotic device is controlled accordingly. In the calculation of the adapted positioning of the end effector of the robotic device, a temporal delay relative to the movement of the object is included.