Systems and methods for detecting tissue contact by an ultrasound probe

A method comprising:

• controlling, by one or more processors included in a computer-assisted surgical system, a manipulator arm coupled to an ultrasound probe to position the ultrasound probe within a patient;
• generating, by the one or more processors included in a computer-assisted surgical system, an ultrasound image based on sound waves detected by the ultrasound probe while located within the patient;
• determining, by the one or more processors included in a computer-assisted surgical system based on an analysis of the ultrasound image, a contact state of the ultrasound probe, the contact state indicating whether the ultrasound probe is in operative physical contact with tissue of the patient;
• and
• controlling, by the one or more processors included in a computer-assisted surgical system based on the contact state, a positioning of the ultrasound probe.

A non-transitory computer-readable medium storing instructions that, when executed, direct a processor of a computing device to perform a process comprising:

• controlling a manipulator arm coupled to an ultrasound probe to position the ultrasound probe within a patient;
• generating an ultrasound image based on sound waves detected by the ultrasound probe while located within the patient;
• determining, based on an analysis of the ultrasound image, a contact state of the ultrasound probe, the contact state indicating whether the ultrasound probe is in operative physical contact with tissue of the patient;
• and
• controlling, based on the contact state, a positioning of the ultrasound probe.