Feedback continuous positioning control of end-effectors

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

• an imaging predictive model configured with kinematics of interventional device to receive imaging data and to output data related to a prediction of a navigated pose of the interventional device;
• an control predictive model configured with kinematics of interventional device to receive error positioning data and to output data related to a prediction of a corrective positioning motion of the interventional device;
• and
• instructions to:
• apply the imaging predictive model to imaging data generated by the imaging device to render the predicted navigated pose of the imaging device,
• generate an error positioning data derived from a differential aspect between a determined target pose of the imaging device (40) and the predicted navigated pose of the imaging device (40) rendered by the imaging predictive model;
• apply the control predictive model to the error positioning data to render a predicted corrective positioning motion of the interventional device;
• and
• generate positioning commands controlling a corrective positioning by the interventional device of the imaging device to the target pose based on the predicted corrective positioning motion of the interventional device.

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

• the positioning controller including:
• an imaging predictive model configured with kinematics of interventional device to receive imaging data and to output data related to a prediction of a navigated pose of the imaging device, and
• an control predictive model configured with kinematics of interventional device to receive error positioning data and to output data related to a prediction of a corrective positioning motion of the interventional device,
• the positioning method comprising the position controller:
• (i) applying the imaging predictive model to imaging data generated by the imaging device to render a predicted the navigated pose of the imaging device,
• (ii) generating an error positioning data derived from a differential aspect between a determined target pose of the imaging device and the predicted navigated pose of the imaging device rendered by (i);
• (iii) applying the control predictive model to the error positioning data generated in (ii) and the navigated pose of the imaging device predicted in (i) to render a predicted corrective positioning motion of the interventional device;
• and
• (iv) generating positioning commands controlling a corrective positioning by the interventional device of the imaging device to the target pose based on the predicted corrective positioning motion of the interventional device.