CPC A61B 34/37 (2016.02) [A61B 1/3132 (2013.01); A61B 8/12 (2013.01); A61B 8/4218 (2013.01); A61B 8/4245 (2013.01); A61B 8/461 (2013.01); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 34/76 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 8/00 (2013.01); A61B 90/03 (2016.02); A61B 2017/00203 (2013.01); A61B 2034/107 (2016.02); A61B 2034/305 (2016.02); A61B 2090/364 (2016.02); A61B 2090/365 (2016.02); A61B 2090/378 (2016.02)] | 20 Claims |
1. A method for providing robotic assisted laparoscopic ultrasound using an ultrasound probe, comprising:
storing a current ultrasound probe position and orientation upon detection of a start of training indication;
moving the ultrasound probe;
after detection of the start of training indication, periodically storing ultrasound probe positions and orientations as the ultrasound probe is moving to define a trajectory of positions and orientations, the periodically storing proceeding until detection of an end of training indication; and
causing the ultrasound probe to move along the defined trajectory of positions and orientations upon receiving a user input command.
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