Autonomous control of an ultrasound probe for intra-operative ultrasonography using vision-based shape sensing of pneumatically attachable flexible rails.

Purpose: In robotic-assisted minimally invasive surgery, surgeons often use intra-operative ultrasound to visualise endophytic structures and localise resection margins. This must be performed by a highly skilled surgeon. Automating this subtask may reduce the cognitive load for the surgeon and improve patient outcomes.