Dexterity Analysis and Design of Robot for Neurosurgery

Abstract

Dexterity of surgery robot is of importance in evaluating the design in neurosurgical sterecotactic surgery. Based on the requirement of surgery, task dexterity of the robot was defined and a kind of analysis method of workspace dexterity was proposed. By the method, comparison between cylindrical and articulated robot was completed, and the dexterity difference was concluded for selecting robot structure.