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Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system

  • US 9,101,397 B2
  • Filed: 08/21/2013
  • Issued: 08/11/2015
  • Est. Priority Date: 04/07/1999
  • Status: Expired due to Fees
First Claim
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1. A medical system comprising:

  • an endoscope capturing real-time images of a surgical site;

    a viewer displaying the real-time images;

    a surgical instrument having an end effector; and

    a processor programmed to cause a computer generated image of the end effector to be displayed adjacent the displayed real-time images on the viewer so that a position of the displayed computer generated image of the end effector on the viewer relative to a position of an object seen in the displayed real-time images on the viewer indicates the position of the end effector relative to the surgical site.

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