FIGURE 1.

(A): Experimental setup consisting of a patient couch and a redundant robot (KUKA iiwa 7). For optimal robot base placement, we consider two scenarios, where in scenario 1 the robot can be positioned on both sides of the patient. In scenario 2, one patient side is restricted, for example by other medical equipment or staff, represented by the translucent red box. For example, the rotating irradiation unit of a LINAC could occupy one side of the patient to irradiate a certain target in the body, which is tracked using robotic US. (B): Target poses 1, 2 and 3 to be scanned by US probe.