Image based motion control correction

A program logic stored in a memory device of a computer that when executed on the computer or when loaded onto the computer, causes the computer to perform a method of adjusting control commands for moving an associated imaging device coupled with an associated moving device that is operable to move the associated imaging device, the method comprising:

• acquiring first image data that describes a first image of an associated structure received by the associated imaging device;
• acquiring intended motion data that describes an intended motion of the associated imaging device, wherein the intended motion data is based on a control command received by the associated moving device;
• acquiring second image data that describes a second image of the associated structure received by the associated imaging device that has been moved by the associated moving device as a result of the associated moving device receiving the control command;
• determining actual motion data based on the first image data and the second image data, wherein the actual motion data describes an actual motion of the associated imaging device;
• determining correction data based on the intended motion data and the actual motion data, wherein the correction data describes a correction to be applied to the control command to:
• produce the intended motion of the associated imaging device;
• and
• compensate for a difference between an actual position of the associated imaging device and an intended position of the associated imaging device that was caused by a deviation between the actual motion of the associated imaging device and the intended motion of the associated imaging device;
• and
• determining, based on the correction data, control data describing a corrected control command to be transmitted to the associated moving device.

A system comprising:

• a computer comprising a processor and a memory device, wherein the computer is operable to execute program logic stored in the memory device to perform a method of adjusting control commands for moving an imaging device coupled with a moving device that is operable to move the imaging device, the method comprising:
• acquiring first image data that describes a first image of an associated structure received by the imaging device;
• acquiring intended motion data that describes an intended motion of the imaging device, wherein the intended motion data is based on a control command received by the moving device;
• acquiring second image data that describes a second image of the structure received by the imaging device that has been moved by the moving device as a result of the moving device receiving the control command;
• determining actual motion data based on the first image data and the second image data, wherein the actual motion data describes an actual motion of the imaging device;
• and
• determining correction data based on the intended motion data and the actual motion data, wherein the correction data describes a correction to be applied to the control command to:
• produce the intended motion of the imaging device;
• and
• compensate for a difference between an actual position of the associated imaging device and an intended position of the associated imaging device that was caused by a deviation between the actual motion of the associated imaging device and the intended motion of the associated imaging device;
• determining, based on the correction data, control data describing a corrected control command to be transmitted to the associated moving device;
• and
• a moving device operable to move a imaging device connected with the moving device, wherein the computer is operably coupled to the moving device for issuing a control signal to the moving device for controlling the operation of the moving device based on the corrected control command.