Tissue path creation using ultrasonic sensors

A robotic surgical system in accordance with at least one embodiment of the present disclosure includes a first robotic arm coupled to a second robotic arm, with a surgical tool attached to the first robotic arm and an ultrasonic sensor attached to the second robotic arm. Thus, when the first robotic arm is moved to position the surgical tool adjacent a target site of a patient, the second robotic arm is also moved to position the ultrasonic sensor adjacent the surgical tool and the target site. In some examples, images generated by the ultrasound sensor may be used to determine a fascia layer of the patient at the target site. Subsequently, the surgical tool may be moved through the fascia layer while continuing to receive real-time images of the tissue displacement instrument relative to the target site from the ultrasonic sensor. 根据本公开的至少一个实施方案的机器人外科手术系统包括第一机械臂，该第一机械臂耦接到第二机械臂，其中外科手术工具附接到该第一机械臂，并且超声波传感器附接到该第二机械臂。因此，当该第一机械臂被移动以邻近患者的目标部位定位该外科手术工具时，该第二机械臂也被移动以邻近该外科手术工具和该目标部位定位该超声波传感器。在一些示例中，由该超声波传感器生成的图像可用于确定该