Control of a endovascular robotic instrument

A method for controlling movement of a medical instrument, the method comprising:

• providing an indicator of a limiting position for a first instrument beyond which position of the first instrument is considered as out-of-limit;
• providing the position of the first instrument from an image including at least one of a portion of the first instrument and retrieved movement of the first instrument, wherein the image includes a portion of the first instrument and a second instrument and a branched intersection of a plurality of branches of a tubular anatomical structure including a main branch and a target branch which is branched from the main branch;
• maintaining the first instrument at a target point in a target branch of the tubular anatomical structure and
• controlling a movement of the first instrument based on the indicator of the limiting position and the position of the first instrument such that the position of the first instrument maintains a predetermined relation with respect to the limiting position, wherein the movement of the instrument is of an amount compensating for a retraction of the second instrument.

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

• provide an indicator of a limiting position for a first instrument beyond which position of the first instrument is considered as out-of-limit;
• provide the position of the first instrument from an image including at least one of a portion of the first instrument and retrieved movement of the first instrument, wherein the image includes a portion of the first instrument and a second instrument and a branched intersection of a plurality of branches of a tubular anatomical structure including a main branch and a target branch which is branched from the main branch;
• maintain the first instrument at a target point in a target branch of the tubular anatomical structure;
• and
• control a movement of the first instrument based on the indicator of the limiting position and the position of the first instrument such that the position of the first instrument maintains a predetermined relation with respect to the limiting position, wherein the movement of the first instrument is of an amount compensating for a retraction of the second instrument.