# US 2021/0330397 A1 · Method for creation of a control signal > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0330397 A1 - Document ID: US20210330397A1 - Status: Published application - Kind: A1 - Application number: 17/232,256 - Filed: 2021-04-16 - Published: 2021-10-28 - Earliest claimed: 2020-04-22 - Assignees: Siemens Healthcare GmbH - Applicants: Siemens Healthcare GmbH - Inventors: Alois REGENSBURGER - Web page: https://patentgrep.com/patent/US20210330397A1 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 34/25: {User interfaces for surgical systems} - A61B 2017/00694: {with means correcting for movement of or for synchronisation with the body} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2034/254: {being adapted depending on the stage of the surgical procedure} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A computer-implemented method is for creation of a control signal with regard to controlling a movement of a medical object, the creation of the control signal being dependent on a current movement state of an examination object. In an embodiment, the method includes receiving, via a processor, a movement model of at least one part of the examination object, the movement model including at least one target movement state; detecting, via a sensor, a current movement state of the examination object; comparing, via the processor, whether the current movement state at least approximately corresponds to the at least one target movement state; determining, via the processor, the control signal as a function of the movement model and of the current movement state, depending on a result of the comparing; and provisioning the control signal. ## Claims ### Claim 1 A computer-implemented method for creation of a control signal with regard to controlling a movement of a medical object, the creation of the control signal being dependent on a current movement state of an examination object, the computer-implemented method comprising: receiving, via a processor, a movement model of at least one part of the examination object, the movement model including at least one target movement state; detecting, via a sensor, a current movement state of the examination object; comparing, via the processor, whether the current movement state at least approximately corresponds to the at least one target movement state; determining, via the processor, the control signal as a function of the movement model and of the current movement state, depending on a result of the comparing; and provisioning the control signal. ### Claim 2 A computer-implemented method for creation of a control signal with regard to controlling a movement of a medical object, the creation of the control signal being dependent on a current movement state of an examination object, the computer-implemented method comprising: receiving, via a processor, a first medical image dataset, the first medical image dataset representing at least one part of the examination object; determining, via the processor, a movement model of the at least one part of the examination object based on the first medical image dataset, the movement model including at least one target movement state; detecting, via a sensor, a current movement state of the examination object; comparing, via the processor, whether the current movement state at least approximately corresponds to the at least one target movement state; determining, via the processor, the control signal as a function of the movement model and of the current movement state, depending on a result of the comparing; and provisioning the control signal. ### Claim 3 (depends on 1) The method of claim 1, wherein at least the one target movement state of the movement model is linked to a comparison sensor signal. ### Claim 4 (depends on 1) The method of claim 1, further comprising: determining a movement path, the movement path describing a spatial direction of the movement of the medical object, the determining of the movement path being based on the movement model. ### Claim 5 (depends on 4) The method of claim 4, wherein the determining of the movement path for the target state takes place in the movement model. ### Claim 6 (depends on 1) The method of claim 1, wherein the current movement state is detected by at least one of detecting a breathing state, detecting an EKG signal, detecting via optical tracking of the examination object and detecting a current medical image dataset. ### Claim 7 (depends on 1) The method of claim 1, wherein the target movement state is brought about by at least one of a support of the examination object determined from the movement model, exertion of a specific force on the examination object, with the aid of a display apparatus, with the aid of specifications with regard to breathing for the examination object, and a respirator unit. ### Claim 8 (depends on 1) The method of claim 1, wherein the control signal at least one of describes direction and orientation of a movement of the medical object and triggers the movement of the medical object. ### Claim 9 (depends on 1) The method of claim 1, wherein the control signal describes when the target movement state at least approximately corresponds to the current movement state. ### Claim 10 (depends on 1) The method of claim 1, wherein the control signal is output to a display apparatus. ### Claim 11 (depends on 1) The method of claim 1, wherein the control signal is only provided when the medical object is at less than a threshold distance from a critical point, the critical point and the threshold distance being derived from the movement model. ### Claim 12 (depends on 1) The method of claim 1, wherein the detecting, comparing, determining and provisioning are carried out in a loop. ### Claim 13 A control apparatus for creation of a control signal, with regard to controlling a movement of a medical object, dependent on a current movement state of an examination object, the control apparatus comprising: a processor, embodied to receive a movement model of at least one part of the examination object, the movement model including at least one target movement state, the processor being further embodied to compare whether the current movement state at least approximately corresponds to the target movement state; determine the control signal as a function of the movement model and of the current movement state; and provide the control signal. ### Claim 14 (depends on 13) A detection apparatus, connected to the control apparatus of claim 13, for transmission of information with regard to a current movement state, comprising: a sensor, embodied to detect the current movement state. ### Claim 15 (depends on 13) A display apparatus, for output of the control signal of the control apparatus of claim 13. ### Claim 16 (depends on 1) A non-transitory computer program product storing a computer program, loadable into a memory of control apparatus, including program sections for carrying out the method of claim 1 when the program sections are executed by the control apparatus. ### Claim 17 (depends on 1) A non-transitory computer-readable storage medium, storing readable and executable program sections, to carry out the method of claim 1 when the program sections are executed by a control apparatus. ### Claim 18 (depends on 2) The method of claim 2, further comprising: determining a movement path, the movement path describing a spatial direction of the movement of the medical object, the determining of the movement path being based on the movement model. ### Claim 19 (depends on 18) The method of claim 18, wherein the determining of the movement path for the target state takes place in the movement model. ### Claim 20 (depends on 2) The method of claim 2, wherein the control signal at least one of describes direction and orientation of a movement of the medical object and triggers the movement of the medical object. ### Claim 21 (depends on 2) The method of claim 2, wherein the control signal is output to a display apparatus. ### Claim 22 (depends on 2) The method of claim 2, wherein the detecting, comparing, determining of the control signal and provisioning are carried out in a loop. ### Claim 23 (depends on 2) A non-transitory computer program product storing a computer program, loadable into a memory of control apparatus, including program sections for carrying out the method of claim 2 when the program sections are executed by the control apparatus. ### Claim 24 (depends on 2) A non-transitory computer-readable storage medium, storing readable and executable program sections, to carry out the method of claim 2 when the program sections are executed by a control apparatus.