Method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object and overall system

US12193771B2 · kind B2 · utility

Assignee

• Siemens Healthineers AG · DE

Inventors

• Christian Kaethner · Forchheim, DE
• Michael Wiets · Langensendelbach, DE
• Andreas Meyer · Bubenreuth, DE

Key dates

• Filing date: Jun 28, 2022
• Grant date: Jan 14, 2025
• Expiry date: Jul 21, 2043

Classification

• Technology area (CPC G): Physics
• CPC primary: G06N3/02
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A system and method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object with a curved tip in a hollow organ of a patient. An an X-ray system for image monitoring of the intervention is assigned to the robotic system. The method includes determining a current relative position and relative orientation of the curved tip of the object relative to the hollow organ using the X-ray system, calibrating the robotic system on the basis of the determined current relative position and relative orientation of the tip of the object relative to the hollow organ, retrieving first information on a planned path section in the hollow organ, retrieving second information on at least one relative position and relative orientation or relative position sequence and relative orientation sequence of the curved tip of the same or a similar object relative to the hollow organ used during a navigation movement along at least one previously traversed path section in the hollow organ or another hollow organ from a memory unit, and generating an actuation signal for actuating the robotic system. The actuation takes account of the first and second information…