A control unit for a robot connected to an endoscope generating an intra-operative endoscopic image of an anatomical region; the control unit comprising: a robot controller operable to command the robot to move the endoscope within the anatomical region; an endoscope controller operably connected to the endoscope to generate an endoscopic video display of the intra-operative endoscopic image of the anatomical region; and an image integration module operably distributed between the robot controller and the endoscope controller wherein, as the endoscope is stationary within the anatomical region, the image integration module is operable to register a pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region, wherein, as the endoscope is moving within the anatomical region subsequent to a registration of the pre-operative three-dimensional image and the intra-operative endoscopic image, the image integration module is operable to calibrate a motion of the robot relative to the endoscope, and characterized in that the image integration module is configured to operate to register the pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region in phase with a periodic motion of the anatomical region and/or is configured to operate to calibrate the motion of the robot relative to the endoscope in phase with a periodic motion of the anatomical region. a robot controller operable to command the robot to move the endoscope within the anatomical region; an endoscope controller operably connected to the endoscope to generate an endoscopic video display of the intra-operative endoscopic image of the anatomical region; and an image integration module operably distributed between the robot controller and the endoscope controller wherein, as the endoscope is stationary within the anatomical region, the image integration module is operable to register a pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region, wherein, as the endoscope is moving within the anatomical region subsequent to a registration of the pre-operative three-dimensional image and the intra-operative endoscopic image, the image integration module is operable to calibrate a motion of the robot relative to the endoscope, and characterized in that the image integration module is configured to operate to register the pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region in phase with a periodic motion of the anatomical region and/or is configured to operate to calibrate the motion of the robot relative to the endoscope in phase with a periodic motion of the anatomical region. wherein, as the endoscope is stationary within the anatomical region, the image integration module is operable to register a pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region, wherein, as the endoscope is moving within the anatomical region subsequent to a registration of the pre-operative three-dimensional image and the intra-operative endoscopic image, the image integration module is operable to calibrate a motion of the robot relative to the endoscope, and characterized in that the image integration module is configured to operate to register the pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region in phase with a periodic motion of the anatomical region and/or is configured to operate to calibrate the motion of the robot relative to the endoscope in phase with a periodic motion of the anatomical region.