A system for planning a probe path by means of using ultrasonic imaging only and a treatment apparatus using the system are related. The probe-path planning system performs ultrasound scans simultaneously on a plurality of locations on the body surface of a patient by using a plurality of ultrasonic scanners, so as to obtain a plurality of two dimensional ultrasonic images based on which a three-dimensional image corresponding to the inner anatomic structure of the patient is constructed. Locations of a target anatomical structure and at least one forbidden anatomical structure are marked by using a marking device, and at least one straight path from the location of the target anatomical structure to the body surface of the patient is planned according to the marking. The treatment apparatus uses an inserting device to insert and guide a probe to the target anatomical structure inside the body of the patient along the planned straight path.一種僅利用超音波成像以規畫探針路徑之系統以及使用該系統之治療設備。該探針路徑規劃系統係以複數個超音波掃描器,對於一患者體表上複數個位置同時進行超音波掃描,並以由此所擷取之複數張二維超音波影像建構對應於患者體內解剖結構之三維超音波影像,再以標記裝置於三維超音波影像中標記一標的解剖結構位置與至少一應避開解剖結構位置,據以規劃至少一條自該標的解剖結構位置至患者體表之直線路徑。該治療設備則係以一穿刺裝置,依據所規劃之路徑而將探針沿著所規劃直線路徑穿刺至標的解剖結構位置。1‧‧‧探針路徑規劃系統10‧‧‧超音波裝置102‧‧‧超音波掃描器106‧‧‧二維超音波影像11‧‧‧影像處理裝置116‧‧‧三維超音波影像12‧‧‧標記裝置13‧‧‧路徑規劃裝置16‧‧‧自動位移裝置162‧‧‧機械手臂17‧‧‧參數設定裝置
