CPC A61B 5/7425 (2013.01) [A61B 1/00006 (2013.01); A61B 1/000094 (2022.02); A61B 1/045 (2013.01); A61B 5/062 (2013.01); A61B 5/065 (2013.01); A61B 34/20 (2016.02); A61B 1/00165 (2013.01); A61B 1/00193 (2013.01); A61B 1/05 (2013.01); A61B 1/2676 (2013.01); A61B 5/06 (2013.01); A61B 5/7285 (2013.01); A61B 2017/00699 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02)] | 16 Claims |
1. A medical system comprising:
an interventional instrument; and
a control system including one or more processors, the control system configured to:
receive a pose dataset for an identified point on the interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters during a cyclical anatomical motion;
determine a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters;
identify a periodic signal for the cyclical anatomical motion from the set of pose differentials;
generate a command signal indicating an intended movement of the interventional instrument relative to the patient anatomy;
adjust the command signal to include an instruction for a cyclical instrument motion of the interventional instrument based on a phase of the cyclical anatomical motion indicated by the periodic signal; and
cause the intended movement of the interventional instrument relative to the patient anatomy based on the adjusted command signal to compensate for the cyclical anatomical motion.
|