CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 90/06 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/062 (2016.02); A61B 2090/3925 (2016.02)] | 20 Claims |
1. A method by a surgical robot system of a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm, the end-effector configured to guide movement of a surgical instrument, the method comprising:
receiving ultrasound (US) imaging data from an ultrasound (US) transducer coupled to the end-effector, wherein the US imaging data is of anatomical structure proximately located to the end-effector;
obtaining an image volume for the patient; and
tracking pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data.
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