Closed-loop feedback based on mixed dimensionality imaging

Abstract

A medical system includes a manipulator assembly configured to drive a flexible elongate device, and a control system coupled to the manipulator assembly. The control system is configured to receive a three-dimensional (3D) image of a distal portion of the flexible elongate device and a target structure, determine, based on the 3D image, a two-dimensional (2D) imaging plane for viewing movement of the distal portion of the flexible elongate device from a first position captured in the 3D image to a second position that points toward the target structure, receive 2D images in the 2D imaging plane captured over time, and control the manipulator assembly to move the distal portion of the flexible elongate device from the first position to the second position based on the 2D images.

Dependencies are inferred from the claim text.