Feedback continuous positioning control of end-effectors

A non-transitory computer-readable storage medium having stored a computer program comprising instructions, which, when executed by a processor, cause the processor to:

• apply an imaging predictive model to imaging data generated by an imaging device of an interventional device to predict a navigated pose of a portion of the interventional device associated with the imaging device, wherein the imaging predictive model is configured with kinematics of the interventional device to receive the imaging data and to output the predicted navigated pose of the interventional device;
• generate an error positioning data derived from a differential aspect between a target pose of a portion of the interventional device associated with the imaging device and the predicted navigated pose of the portion of the interventional device associated with the imaging device, wherein the error positioning data comprises at least one velocity for the portion of the interventional device associated with the imaging device,
• apply a control predictive model to the error positioning data to predict a corrective positioning motion of the interventional device, wherein the control predictive model is configured with kinematics of the interventional device to receive the error positioning data and to output the predicted corrective positioning motion of the interventional device,
• wherein the predicted corrective positioning motion comprises one or more joint velocities for at least one joint of the interventional device, the one or more joint velocities derived, by the control predictive model, based on the at least one velocity for the portion of the interventional device associated with the imaging device;
• and
• generate positioning commands that control a corrective positioning by the interventional device of the portion of the interventional device associated with the imaging device to the target pose based on the predicted corrective positioning motion of the interventional device.

A positioning method for an interventional device including an imaging device, the method comprising

• applying an imaging predictive model to imaging data generated by the imaging device to predict a navigated pose of a portion of the interventional device associated with the imaging device, wherein the imaging predictive model is configured with kinematics of the interventional device to receive the imaging data and to output the predicted navigated pose of the interventional device;
• generating error positioning data derived from a differential aspect between a target pose of the portion of the interventional device associated with the imaging device and the predicted navigated pose of the portion of the interventional device associated with the imaging device, wherein the error positioning data comprises at least one velocity for the portion of the interventional device associated with the imaging device;
• applying a control predictive model to the error positioning data to predict a corrective positioning motion of the interventional device, wherein the control predictive model configured with kinematics of the interventional device to receive the error positioning data and to output the predicted corrective positioning motion of the interventional device,
• wherein the predicted corrective positioning motion comprises one or more joint velocities for at least one joint of the interventional device, the one or more joint velocities derived, by the control predictive model, based on the at least one velocity for the portion of the interventional device associated with the imaging device;
• and
• generating positioning commands controlling a corrective positioning of the portion of the interventional device associated with the imaging device to the target pose based on the predicted corrective positioning motion of the interventional device.