Medical robot for placement of medical instruments under ultrasound guidance

A medical robot for assisting a practitioner during a medical intervention for treating a lesion in an anatomy of interest of a patient, said medical robot comprising a robotic arm comprising at a distal end a tool guide intended to guide a medical instrument, and a control unit configured to control the robotic arm, the medical robot being configured to cooperate with a navigation system and with an ultrasound probe to be positioned by the practitioner at the anatomy of interest of the patient, the control unit being configured to be able to determine at any time, on the basis of information communicated by the navigation system, the position of a robot marker to be attached to the medical robot, the position of a patient marker to be positioned on the patient in the vicinity of the anatomy of interest, and the position of a probe marker to be attached to the ultrasound probe, wherein

• during a modeling phase, the control unit is configured to receive a plurality of ultrasound images acquired by the ultrasound probe during at least one respiratory cycle of the patient and to generate, from said ultrasound images, a model for estimating the position of a target point at the lesion and the position of an entry point at the skin of the patient, irrespective of a particular moment of the patient's subsequent respiratory cycle, based on the position of the patient marker at that particular moment, and
• during a guidance phase, the control unit is configured to control the robotic arm in real time based on the position of the patient marker such that the tool guide makes it possible to guide the medical instrument along a trajectory defined by the position of the target point and the position of the entry point associated with the position of the patient marker in the model without the need to acquire an ultrasound image at that particular moment.