FIELD: medicine.
SUBSTANCE: group of inventions relates to medicine. Robot guiding system uses a robot unit and a control unit. Robot unit contains an endoscope for generating an intra-operative endoscopic image of a blood vessel tree within an anatomical region, and a robot for moving the endoscope within the anatomical region. Control unit includes an endoscope controller for generating an endoscopic path within the anatomical region, wherein the endoscopic path is derived from a matching graphical representation of the ultra-operative endoscopic image of the blood vessel tree to a graphical presentation of a pre-operative three-dimensional image of the blood vessel tree.
EFFECT: control unit further includes a robot controller for commanding the robot to move the endoscope within the anatomical region in accordance with the endoscopic path.
20 cl, 8 dwg
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