摘要：【中文】一种用于与介入设备(60)一起应用的机器人声学探头。所述机器人声学探头采用声学探头(20)，所述声学探头包括成像平台(21)并且还包括声学换能器阵列(25)，所述成像平台具有定义设备插入端口入口(23)和设备插入端口出口(24)的设备插入端口(22)，所述声学换能器阵列相对于所述设备插入端口出口(24)被设置。所述机器人声学探头还采用机器人仪器引导件(40)，所述机器人仪器引导件包括基座(41)和末端执行器(45)，所述基座相对于所述设备插入端口入口(23)被安装到所述成像平台(21)，所述末端执行器被耦合到所述基座(41)并且能相对于远程运动中心(49)在多个姿态之间转变。所述末端执行器(45)定义延伸通过所述设备插入端口(22)的介入设备轴线(48)，并且所述远程运动中心(49)邻近所述设备插入端口出口(24)定位在所述介入设备轴线(48)上。 【EN】A robotic acoustic probe for application with an interventional device (60). The robotic acoustic probe employs an acoustic probe (20) that includes an imaging platform (21) having a device insertion port (22) defining a device insertion port entrance (23) and a device insertion port exit (24), and further includes an acoustic transducer array (25) disposed relative to the device insertion port exit (24). The robotic acoustic probe also employs a robotic instrument guide (40) including a base (41) mounted to the imaging platform (21) relative to the device insertion port inlet (23) and an end effector (45) coupled to the base (41) and transitionable between a plurality of poses relative to a remote center of motion (49). The end effector (45) defines an interventional device axis (48) extending through the device insertion port (22), and the remote center of motion (49) is positioned on the interventional device axis (48) adjacent the device insertion port exit (24).