Control method for a robotic device with an ultrasound apparatus and robotic device

A method for controlling a robotic device with an end effector arranged on a kinematic chain that interacts with an object, and including an ultrasound apparatus registered to the robotic device for movement capture of the object, the method comprising:

• capturing ultrasound image data of the object,
• determining a relative movement of the object based on the captured ultrasound image data using a mathematical method,
• registering the captured ultrasound data to a planning data set;
• determining an absolute movement of the object from the registration;
• compensating for movements of the object in a context of an interaction of the end effector of the robotic device with the object;
• predicting future movements of the object and a positioning of the end effector of the robotic device based on the determined relative movement and determined absolute movement;
• wherein in predicting the positioning of the end effector of the robotic device, a temporal delay relative to the movement of the object is included;
• and
• controlling the robotic device based on the predicted future movements of the object and the positioning of the end effector.