Feedforward continuous positioning control of end-effectors

A machine-readable storage medium, encoded with instructions for execution by at least one processor, to instruct an international device including a device portion, the machine-readable storage medium storing:

• at least one of:
• a forward predictive model configured with kinematics of interventional device, to receive commanded positioning motion of the interventional device and to output data related to a prediction of a navigated pose of the device portion, and
• an control predictive model configured with kinematics of interventional device to receive target pose data of the interventional device and to output data related to a prediction of a positioning motion of the interventional device;
• and
• instruction to at least one of:
• (i) apply the forward predictive model to a commanded positioning motion of the interventional device to render a predicted navigated pose of the device portion, and generate positioning data informative of a positioning by the interventional device of the device portion to a target pose based on the predicted navigated pose of the device portion;
• and
• (ii) apply the control predictive model to the target pose of the device portion to render a predicted positioning motion of the interventional device, and generate positioning commands controlling a positioning of the interventional device of the device portion to the target pose based on the predicted positioning motion of the interventional device.

A positioning method executable by a positioning controller for an interventional device including a device portion,

• the positioning controller storing at least one of:
• a forward predictive model configured with embedded kinematics of interventional device to receive commanded positioning motion of the interventional device and to output data related to a prediction of a navigated pose of the device portion, and
• an control predictive model configured with kinematics of interventional device to receive a target pose data of the interventional device and to output data related to a prediction of a positioning motion of the interventional device,
• wherein the positioning method comprising the position controller executing at least one of:
• (i) applying the forward predictive model to a commanded positioning motion of the interventional device to render a predicted navigated pose of the device portion, and generating positioning data informative of a positioning by the interventional device of the device portion to a target pose based on the predicted navigated pose of the device portion;
• and
• (ii) applying the control predictive model to the target pose of the device portion (40) to render a predicted positioning motion of the interventional device, and generating positioning commands controlling a positioning of the interventional device of the device portion (40) to the target pose based on the predicted positioning motion of the interventional device.