  During brain tumour resection, localising cancerous tissue and delineating
healthy and pathological borders is challenging, even for experienced
neurosurgeons and neuroradiologists. Intraoperative imaging is commonly
employed for determining and updating surgical plans in the operating room.
Ultrasound (US) has presented itself a suitable tool for this task, owing to
its ease of integration into the operating room and surgical procedure.
However, widespread establishment of this tool has been limited because of the
difficulty of anatomy localisation and data interpretation. In this work, we
present a robotic framework designed and tested on a soft-tissue-mimicking
brain phantom, simulating intraoperative US (iUS) scanning during brain tumour
surgery.
