Device for moving a medical object and method for providing a signal

A method for providing a signal, the method comprising:

• moving, holding, or moving and holding of a medical object by a mover device by transmitting a force, wherein the medical object is disposed in a hollow organ of an examination subject;
• receiving a sensor signal of 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, wherein the sensor signal contains information relating to the counterforce;
• receiving a reference signal of a reference unit, wherein the reference unit comprises a sensor that is 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;
• simulating a virtual frictional force between the medical object and the hollow organ on the basis of the at least one coefficient of friction;
• receiving a dataset that contains an image of the examination subject;
• determining a spatial positioning of a distal end portion of the medical object with respect to the dataset;
• identifying an origin of the counterforce on a basis of the sensor signal, the spatial positioning of the distal end portion, the reference signal, the virtual signal, and the dataset;
• and
• providing the signal as a function of the origin of the counterforce.

A non-transitory computer implemented storage medium, including machine-readable instructions stored therein, that when executed by at least one processor, cause the processor to:

• receive, after moving, holding, or moving and holding of a medical object by a mover device, wherein the medical object is disposed in a hollow organ of an examination subject, a sensor signal of a sensor unit configured to detect a counterforce exerted by the medical object on the mover device and acting in the opposite direction to a force of the mover device, wherein the sensor signal contains information relating to the counterforce;
• receive a reference signal of a reference unit, wherein the reference unit comprises 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;
• simulate a virtual frictional force between the medical object and the hollow organ on the basis of the at least one coefficient of friction;
• receive a dataset that contains an image of the examination subject;
• determine a spatial positioning of a distal end portion of the medical object with respect to the dataset;
• identify an origin of the counterforce on the basis of the sensor signal, the spatial positioning of the distal end portion, the reference signal, the virtual frictional force, and the dataset;
• and
• provide the signal as a function of the origin of the counterforce.