US 11,717,358 B2
Medical engineering robot, medical system, method for operation thereof, computer program, and storage medium
Jessica Magaraggia, Erlangen (DE); Gerhard Kleinszig, Forchheim (DE); Maddalena Strumia, Forchheim (DE); and Alois Regensburger, Erlangen (DE)
Assigned to Siemens Healthcare GmbH, Erlangen (DE)
Filed by Siemens Healthcare GmbH, Erlangen (DE)
Filed on Jan. 17, 2020, as Appl. No. 16/745,708.
Claims priority of application No. 102019200803.8 (DE), filed on Jan. 23, 2019.
Prior Publication US 2020/0229879 A1, Jul. 23, 2020
Int. Cl. A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 90/00 (2016.01); A61M 25/01 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 1/00149 (2013.01); A61B 2034/301 (2016.02); A61B 2090/3764 (2016.02); A61M 25/0108 (2013.01); A61M 25/0116 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A medical engineering robot comprising:
a movable instrument arm,
a drive configured to move the instrument arm; and
a controller connected to the drive for automatic control of a pose of the instrument arm,
wherein the controller is configured, by controlling the pose of the instrument arm relative to a respective examination object to be treated or to be examined by the medical engineering robot, to bring the instrument arm automatically into contact with the examination object and to set a predetermined pose of the examination object,
wherein the predetermined pose of the examination object is configured to be detected by a medical imaging device,
wherein a corresponding pre-interventional image data set depicting the predetermined pose of the examination object is configured to be recorded by the medical imaging device in an absence of the instrument arm, and
wherein the controller is configured to compare a current pose of the examination object under examination with the predetermined pose of the examination object and to compensate for any difference between the current pose and the predetermined pose by controlling the instrument arm in mechanical contact with the examination object.