Systems and methods of alignment control for neuromodulation delivery system

A method comprising:

• receiving, via a processor, time-series image data from an energy application device at a current position and orientation relative to a subject, wherein the time-series image data comprises images of internal tissue of the subject at the current position and orientation over time;
• determining, via the processor, an alignment score of the energy application device to an anatomic target over time based on the image data;
• comparing, via the processor, the alignment score over a time interval corresponding to the time-series image data at the current position and orientation to a predicted alignment score for the time interval at one or both of an additional position or orientation;
• and
• providing a control signal to maintain or change one or both of position or orientation of the energy application device based on the comparison.

A tracking system comprising one or more processors and a memory, wherein the one or more processors are configured to execute instructions stored on the memory to perform acts comprising:

• receiving image data from an energy application device, wherein the image data comprises images of internal tissue based on a current position and orientation of the energy application device relative to a subject;
• receiving target image data comprising an anatomic target and corresponding to internal tissue of the subject;
• identifying the anatomic target in an image frame of the image data and tracking the anatomic target in subsequent frames of the image data;
• determining an alignment score of the energy application device relative to the anatomic target based on the image data;
• comparing the alignment score to a threshold relative to the anatomic target;
• and
• providing a control signal to maintain or change one or both of position or orientation of the energy application device based on the comparison of the alignment score to the threshold.