不列颠哥伦比亚大学的研究者发明了一种经直肠超声系统(TRUS),将这种装置与达芬奇手术装置结合,实现了机器人辅助腹腔镜下根治性前列腺切除术(RALRP)中的经直肠超声实时引导。手术过程中,首先人工行TRUS提供清晰的前列腺图像并作为参照,在近距离治疗稳定器的辅助下调整其入直肠的角度和深度,再通过机械臂将超声装置与达芬奇机器人固定,使TRUS成像平面可以在术者的控制下跟踪达芬奇手术装置,实现TRUS的自动旋转,在术中为 Researchers at the University of British Columbia have invented a transrectal ultrasound system (TRUS) that combines this device with a DaVinci surgical device to enable transrectal ultrasound in robotic-assisted laparoscopic radical prostatectomy (RALRP) Real-time guide. During the operation, TRUS firstly provided a clear image of the prostate and served as a reference to adjust the angle and depth into the rectum with the help of a brachytherapy stabilizer. The robot was then used to fix the ultrasound device and the da Vinci robot so that TRUS imaging plane can be under the control of the surgeon to track Leonardo da Vinci surgical device to achieve automatic rotation of TRUS, intraoperative