Robotic surgical system utilizing FE model coupled with ultrasonic tracking

Described within is a system for performing a minimally invasive robotic surgery. To facilitate this means, an advanced unltrasonic/inertial tracking system is used in place of the standard optical tracking systems. This technique will decrease overall radiation, both to the surgeon as well as the patient. Overall accuracy of the procedure will also be increased, thusly increasing the success rate while also decreasing overall time for the surgery. This paper will specifically deal with the positioning and accuracy of the robot.