ROBOTIC DIRECTION OF THE ULTRASONIC PROBE OF THE ENDOSCOPIC SURGERY

摘要

1. A system for surgical robotic direction, comprising: a robotic system (122), which contains a robot (124) configured to pass to the target through the port (134), and the robotic system includes a visual component (102), which is used when the direction of the robot along the path to the location, the location being determined in accordance with the position and orientation of the robot; an ultrasound probe (125), which is guided by a robot to a location to make it possible to use the probe to obtain ultrasound images at a location. 2. The system of claim 1, wherein the visual component (102) includes an endoscope, and the robot first deploys an endoscope and then deploys an ultrasound probe so that visual images and ultrasound images are obtained at different points in time, but at the same location .3. The system of claim 2, wherein the endoscope (102) and the probe (125) are disconnected from the robot (124) and used in series. The system of claim 1, wherein the visual component (102) includes a camera (410) and the robot deploys the camera and the ultrasound probe simultaneously. The system of claim 4, wherein the camera (410) is mounted on an ultrasound probe and visual images and an ultrasound image are acquired simultaneously. The system of claim 1, further comprising a housing (502) connected to a robot end-body and configured to deploy an endoscope (502) as a visual component and an ultrasound probe (504) at the same time, wherein the ultrasound probe can be moved to form contact with fabric for