Abstract: According to some embodiments of the invention, a robot-assisted ultrasound system includes a first ultrasound probe, a robot comprising a manipulator arm having a tool end, and a second ultrasound probe attached to the tool end of the manipulator arm. The robot-assisted ultrasound system further includes a robot control system configured to control at least one of a position or a pose of the second ultrasound probe based on a contemporaneous position and pose of the first ultrasound probe, and an ultrasound processing and display system configured to communicate with at least one of the first and second ultrasound probes to receive and display an ultrasound image based on the first and second ultrasound probes acting in conjunction with each other.