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This paper proposed an assisted medical robot system to assist surgeons in the radio frequency ablation surgery based on the ultrasonic imaging guided. For an effective surgery robot system, the ultrasonic image analysis and 3-D ultrasonic image reconstruction are the important factors in the radio frequency ablation surgery operation. Utilizing the echoic intension and distribution of different organizations and local details, ultrasonic image catches the important medical pathological changes. Using the anisotropic diffusion equation, a denoising and edge enhancement way for an ultrasonic image was proposed, which can preserve edges, local details and ultrasonic echoic bright strips on denoising. In order to extract clinical information from ultrasonic images and to restructure 3-D model, an algorithm based on the combination of the live wire algorithm and the active contour model is proposed for the semiautomatic segmentation of ultrasonic image series. A free three-dimensional ultrasonic imaging method by real-time interaction has been proposed, which contribute to carry out operation plan in the pre-operative phase.