METHOD AND APPARATUS FOR AUTOMATED CONTROL AND MULTIDIMENSIONAL POSITIONING OF MULTIPLE LOCALIZED MEDICAL DEVICES WITH A SINGLE INTERVENTIONAL REMOTE NAVIGATION SYSTEM
Methods are provided for automatically actuating and positioning a localized second medical device in multiple spatial dimensions in a subject anatomy with a remote medical navigation system in coordination with a localized first medical device that is also actuated by the remote navigation system. After an initial calibration step, an exemplary method comprises:(a) navigating the first medical device with the remote navigation system,(b) constructing a cost function based on the spatial coordinates of the first and second medical devices, minimizing it and computing and automatically applying updates to the configurational degrees of freedom of the second medical device.
