US 12,109,077 B2
Device for moving a medical object and method for providing a signal
Tobias Lenich, Nuremberg (DE); Trixi Leistner, Erlangen (DE); and Stanislav Tashenov, Heroldsbach (DE)
Assigned to Siemens Healthineers AG, Forchheim (DE)
Filed by Siemens Healthcare GmbH, Erlangen (DE)
Filed on Sep. 21, 2021, as Appl. No. 17/480,381.
Claims priority of application No. 10 2020 211 999.6 (DE), filed on Sep. 24, 2020.
Prior Publication US 2022/0087776 A1, Mar. 24, 2022
Int. Cl. A61B 90/50 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 90/50 (2016.02) [A61B 34/30 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/5025 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A device for moving a medical object, the device comprising:
a mover device configured to hold, move, or hold and move the medical object at least partially disposed in the mover device by transmitting a force, wherein the medical object is disposed in a hollow organ of an examination subject; and
a sensor unit configured to detect a counterforce exerted by the medical object on the mover device and acting in the opposite direction to the force;
a reference unit comprising a sensor configured to detect at least one coefficient of friction of the medical object at the mover device and/or at an introducer sheath for introducing the medical object into the examination subject; and
a processing unit configured to simulate a virtual frictional force between the medical object and the hollow organ on the basis of the at least one coefficient of friction and identify or rule out a frictional force between the hollow organ and the medical object as an origin of the counterforce based on a comparison between the counterforce and the virtual frictional force;
wherein a signal is provided as a function of the counterforce,
wherein the mover device is further configured to move the medical object as a function of the signal.