Minimally invasive surgical techniques deliver specific intervention without the morbidity associated with large open incisions. Image-guidance technology has the potential to provide significant benefits for minimally invasive surgery, where surgeons must usually cope with difficult access and reduced visualization. A new generation of minimally invasive robotic surgery funded by SBIR, developed by Intuitive Surgical, has offer an excellent platform upon which to fuse the benefits of image-guided and minimally invasive surgery. The da Vinci surgical robot system has bring together a leading academic center of excellence in image-guided therapy and the market leader in surgical robotics to give it the fundamentally new capability of steering to a specific point in the patient's frame of reference.