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This paper presents fusion of real-time images and data from various sensors for on-line surgical planning as integrated in a non-invasive surgical robotic system. High Intensity Focused Ultrasound (HIFU) is used as a treatment modality while on-line images are acquired using diagnostic ultrasound and registered with the proprioceptive sensors of a customized robotic system for ablative procedures. As temperature is a crux parameter in thermotherapy and ablative systems, thermal data isdoi:10.1109/icif.2006.301725 dblp:conf/fusion/Chauhan06 fatcat:wcv6js7z3jffrj3me2e7vsdvvi