System with a medical instrument and a recording means
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United States of America Patent
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May 12, 2020
Grant Date -
Dec 14, 2017
app pub date -
Oct 29, 2015
filing date -
Nov 13, 2014
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Abstract
A method for automatically predetermining an intended movement of a manipulator arrangement of a medical system having a medical instrument and a recording means for generating images, wherein the recording means and/or the instrument is guided by the manipulator arrangement. The method includes establishing an intended transformation between a reference stationary in relation to the recording means and a reference stationary in relation to the instrument; monitoring a deviation between the intended transformation and a current transformation between the reference stationary in relation to the recording means and the reference stationary in relation to the instrument; and determining a reset movement of the manipulator arrangement for returning the current transformation to the intended transformation when the deviation satisfies a predetermined condition.
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