# US 12,108,991 B2 · Control of a robotically moved object > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,108,991 B2 - Document ID: US12108991B2 - Status: Granted - Kind: B2 - Application number: 17/231,134 - Filed: 2021-04-15 - Published: 2021-10-21 - Granted: 2024-10-08 - Earliest claimed: 2020-04-21 - Assignees: Siemens Healthineers AG - Applicants: Siemens Healthcare GmbH - Inventors: Christian Kaethner; Andreas Meyer; Michael Wiets - Web page: https://patentgrep.com/patent/US12108991B2 ## CPC - A61B 8/0841: {for locating instruments} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 8/4218: {characterised by articulated arms} - A61B 34/25: {User interfaces for surgical systems} - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound} - A61B 2090/3762: {using computed tomography systems [CT]} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A medical imaging system includes a medical imaging device to map a mapping region inside an examination object, the medical imaging device being designed such that a location of the mapping region is changable in respect of the examination object; and a processing device, including a data interface, to robotically position a medical object inside the examination object, via a movement device. In an embodiment, the processing device is configured to determine an instantaneous position of the medical object; specify a target position for the medical object, the target position being defined relative to the mapping region; determine one or more control signals, configured to cause a movement of the medical object via the movement device from the instantaneous position to the target position; and provide the one or more control signals, via the data interface, to the movement device. ## Claims ### Claim 1 A medical imaging system, comprising: a medical imaging device configured to map an imaged area inside an examination object, the medical imaging device being configured for changing a location of the imaged area in respect of the examination object by one of changing a position of the medical imagine device, or changing an imaging parameter of the medical imaging device; and a processing device configured to robotically position a medical object inside the examination object via a movement device, the processing device being configured to determine an instantaneous position of the medical object, specify a target position for the medical object, the target position being defined relative to the imaged area, determine one or more control signals based on a change in the location of the imaged area, the one or more control signals being configured to cause a movement of the medical object via the movement device from the instantaneous position to the target position, and provide the one or more control signals to the movement device. ### Claim 2 (depends on 1) The medical imaging system of claim 1, wherein the processing device is configured to: perform the specification of the target position based on the specification being activated; and deactivate a functionality for specifying the target positon. ### Claim 3 (depends on 2) The medical imaging system of claim 2, wherein the processing device is configured to firmly specify the target position relative to the imaged area. ### Claim 4 (depends on 2) The medical imaging system of claim 2, further comprising: a user interface configured to receive an input from an external source specifying the target position inside the imaged area. ### Claim 5 (depends on 2) The medical imaging system of claim 2, wherein the processing device is configured to: determine a locational state of the imaged area of the examination object; and determine the one or more control signals based upon the locational state. ### Claim 6 (depends on 5) The medical imaging system of claim 5, wherein the medical imaging device is configured to provide location information, the location information including at least one of information regarding at least one of one of a speed, orientation, relative position or movement distance of at least one imaging component of the medical imaging device, and image data of the imaged area; and the processing device is configured to determine the locational state based on the location information. ### Claim 7 (depends on 1) The medical imaging system of claim 1, wherein the processing device is configured to firmly specify s the target position relative to the imaged area. ### Claim 8 (depends on 7) The medical imaging system of claim 7, wherein the processing device is configured to: determine a locational state of the imaged area of the examination object; and determine the one or more control signals based upon the locational state. ### Claim 9 (depends on 8) The medical imaging system of claim 8, wherein the medical imaging device is designed to provide location information, the location information including at least one of information regarding at least one of one of a speed, orientation, relative position or movement distance of at least one imaging component of the medical imaging device, and image data of the imaged area; and the processing device is configured to determine the locational state based on the location information. ### Claim 10 (depends on 1) The medical imaging system of claim 1, further comprising: a user interface configured to receive an input from an external source specifying the target position inside the imaged area. ### Claim 11 (depends on 1) The medical imaging system of claim 1, wherein the processing device is configured to: determine a locational state of the imaged area with respect to the examination object; and determine the one or more control signals based upon the locational state. ### Claim 12 (depends on 11) The medical imaging system of claim 11, wherein the medical imaging device is configured to provide location information, the location information including at least one of information regarding at least one of a speed, orientation, relative position or movement distance of at least one imaging component of the medical imaging device, and image data of the imaged area; and the processing device is configured to determine the locational state based on the location information. ### Claim 13 (depends on 1) The medical imaging system of claim 1, wherein the processing device is configured to: receive information about the examination object, the information including information about at least one of a vessel structure of the examination object, a material property of the examination object or state information of the examination object; and determine the one or more control signals based on the information about the examination object. ### Claim 14 (depends on 1) The medical imaging system of claim 1, wherein the processing device is configured to repeatedly determine the one or more control signals based on at least another change in the imaged area or a change in the target position. ### Claim 15 (depends on 1) The medical imaging system of claim 1, wherein the medical imaging device is configured such that the location of the imaged area is settable by a user manually changing a position of the medical imaging device. ### Claim 16 (depends on 1) The medical imaging system of claim 1, wherein the medical imaging device includes a positioning device configured to robotically set the location of the imaged area. ### Claim 17 (depends on 1) The medical imaging system of claim 1, wherein the processing device is configured to control the medical imaging device based on movement information of the medical object. ### Claim 18 (depends on 17) The medical imaging system of claim 17, wherein the processing device is configured to control the medical imaging device based on movement information of the medical object including at least one of: performing an optimization of a mapping of the imaged area by adjusting one or more imaging parameters of the medical imaging device, the imaging parameter being among the one or more imaging parameters; or setting the location of the imaged area to include the medical object in the imaged area. ### Claim 19 (depends on 1) The medical imaging system of claim 1, wherein the medical imaging device includes an ultrasound imaging device with an ultrasonic device as an imaging component, the ultrasonic device being configured as an ultrasonic head for sonographic examination of the examination object. ### Claim 20 (depends on 1) The medical imaging system of claim 1, further comprising: a presentation device configured to display a first presentation of the imaged area, and a markings overlaid on the first presentation, the marking indicating the target position in the first presentation. ### Claim 21 (depends on 1) The m d imaging system of claim 1, wherein the processing device is configured to output a warning message to a user via a data interface of the processing device in response to an interruption to a data link, the data interface being a wireless data interface. ### Claim 22 (depends on 1) An intervention system for carrying out an interventional medical procedure, comprising: the medical imaging system of claim 1; and the movement device for robotic positioning of the medical object inside the examination object. ### Claim 23 (depends on 22) The intervention system of claim 22, wherein the movement device is configured to provide movement information relating to an instantaneous movement state of the medical object, the movement information including at least one of information relating to at least one of a speed, orientation, relative position or movement distance of the medical object; and the processing device is configured to determine the instantaneous position of the medical object based on the movement information. ### Claim 24 (depends on 1) The medical imaging system of claim 1, wherein the specification of the target position fixedly defines the target position relative to the image area, the specification of the target position causing the target position to change when the location of the imaged area changes. ### Claim 25 (depends on 1) The medical imaging system of claim 1, wherein the processing device is configured to change the location of the imaged area based on movement of the medical object. ### Claim 26 (depends on 1) The medical imaging system of claim 1, wherein the imaging parameter is a spatial radiation width, a propagation angle or a propagation direction. ### Claim 27 A method for control of an imaging system, comprising: acquiring image data of an imaged area inside an examination object via an imaging device; determining an instantaneous position of a medical object; specifying a target position for the medical object, the target position being defined relative to the imaged area; determining one or more control signals for a movement device based on a change in a location of the imaged area, the one or more control signals being configured to cause a movement of the medical object from the instantaneous position to the target position via the movement device, and the change in the location of the imaged area including changing a position of the imaging device, or changing an imaging parameter of the imaging device; and providing the one or more control signals to the movement device. ### Claim 28 A non-transitory computer program product, comprising: a program, directly loadable into a memory of a programmable arithmetic device of a processing device, the program including program segments that, when executed by the processing device, are configured to cause the processing device to; acquire image data of an imaged area inside an examination object via an imaging device, determine an instantaneous position of a medical object, specify a target position for the medical object, the target position being defined relative to the imaged area, determine one or more control signals for a movement device based on a change in a location of the imaged area, the one or more control signals being configured to cause a movement of the medical object from the instantaneous position to the target position via the movement device, and the change in the location of the imaged area including changing a positon of the imaging device, or changing an imaging parameter of the imaging device and provide the one or more control signals to the movement device.