FIG. 5.

(a) Illustration of the robotic-US guidance system and its components deployed during clinical CT simulation of a liver SABR patient. An additional component (not shown) is an infrared camera that tracks the pictured tracking tools. The manipulator is in position for trans-coastal liver imaging. (b) As in (a), with the manipulator in position for transabdominal liver imaging. (c) A CT tracking and registration tool attached to the CT table allows registration of the US probe and US images with the planning CT. (d) A TVM generated from the planning CT guides the placement of the US probe and manipulator toward the location of the target (segmented in red) through imaging positions with available acoustic windows. (e) Live display of the US probe on the patient surface overlaid with the TVM guides placement of the probe. (f) Live 3D US fusion with planning CT and localized lesion provides visual confirmation of the suitability of the current imaging position suggested by the TVM as shown in (d) and (e). Ultrasound image overlay in yellow demonstrates alignment of the liver-lung interface (left image, right side) and reflection from ribs (right image, bottom).