Single-port surgical procedure using image guided articulated robot

A robotic surgical method for executing a procedural treatment of an anatomical structure within an anatomical region, the robotic surgical method comprising:

• controlling, by an imaging controller, a registration between (i) an articulated robot comprising a plurality of linkages and at least one joint interconnecting the plurality of linkages and (ii) a preoperative image illustrative of a planned treatment path within an anatomical region relative to the anatomical structure;
• and
• controlling, by a robot controller, a navigation by the articulated robot of a treatment catheter along an intraoperative treatment path within the anatomical region relative to the anatomical structure derived from a planned treatment path within the anatomical region relative to the anatomical structure based on the registration between the articulated robot and the preoperative image, wherein at least one of the plurality of linkages and the at least one joint of the articulated robot are adapted to be inserted within the anatomical structure.