| 摘要 |
A method according to the invention for automatically predetermining an intended movement (d) of a manipulator arrangement (30, 31, 40, 41) of a medical system having a medical instrument (20, 21) and a recording means (10, 11) for generating images (5), the recording means and/or the instrument being guided by the manipulator arrangement, comprises the following steps: establishing (S10) an intended transformation (T s) between a reference (K, B) stationary in relation to the recording means and a reference (W, W') stationary in relation to the instrument; monitoring (S20, S30) a deviation (Δ) between the intended transformation and a current transformation (TKW(t)) between the reference stationary in relation to the recording means and the reference stationary in relation to the instrument; and determining (S40) a reset movement (d) of the manipulator arrangement for returning the current transformation to the intended transformation if the deviation satisfies a predetermined condition (Δ>Δ0) which, in particular, is predetermined in a variable manner. |
