Method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object and overall system

Abstract

A system and method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object with a curved tip in a hollow organ of a patient. An an X-ray system for image monitoring of the intervention is assigned to the robotic system. The method includes determining a current relative position and relative orientation of the curved tip of the object relative to the hollow organ using the X-ray system, calibrating the robotic system on the basis of the determined current relative position and relative orientation of the tip of the object relative to the hollow organ, retrieving first information on a planned path section in the hollow organ, retrieving second information on at least one relative position and relative orientation or relative position sequence and relative orientation sequence of the curved tip of the same or a similar object relative to the hollow organ used during a navigation movement along at least one previously traversed path section in the hollow organ or another hollow organ from a memory unit, and generating an actuation signal for actuating the robotic system. The actuation takes account of the first and second information and the current relative position and relative orientation of the tip relative to the hollow organ.