US 11,918,309 B2
Imaging a robotically moved medical object
Christian Kaethner, Forchheim (DE); Andreas Meyer, Bubenreuth (DE); and Michael Wiets, Langensendelbach (DE)
Assigned to Siemens Healthcare GmbH, Erlangen (DE)
Filed by Siemens Healthcare GmbH, Erlangen (DE)
Filed on Mar. 25, 2021, as Appl. No. 17/212,179.
Claims priority of application No. 102020204574.7 (DE), filed on Apr. 9, 2020.
Prior Publication US 2021/0315649 A1, Oct. 14, 2021
Int. Cl. A61B 34/32 (2016.01); A61B 6/12 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61M 25/01 (2006.01)
CPC A61B 34/32 (2016.02) [A61B 6/12 (2013.01); A61B 34/20 (2016.02); A61B 2034/303 (2016.02); A61B 2090/376 (2016.02); A61M 25/0113 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A system for imaging a robotically moved medical object, the system comprising:
a movement device for robotic movement of the medical object;
a medical imaging device configured to acquire image data; and
a processing unit configured to receive a data set, wherein the data set at least partially maps a vessel structure of an examination object and is registered with the medical imaging device,
wherein the processing unit is further configured to determine an object path along the vessel structure toward a target region in the data set,
wherein the movement device is configured to move the medical object along the object path, and provide an object parameter relating to a movement state of the medical object, and
wherein the processing unit is further configured to control a positioning of the medical imaging device relative to the examination object as a function of the object parameter and the object path such that a predefined section of the medical object is mapped in the image data acquired by the medical imaging device.