This paper introduces a workflow for robot assisted neurosurgery. The system consists of a robot for precise positioning and a vision system for intro-operative registration. The vision system uses two cameras and templates to automatically track dynamic targets. In order to accurately position the end of the robot during operation, the robot arm must occupy the least space, be easy to move and be well balanced. Cylindrical configuration is chosen in this case as a suitable type of arm. Based on the Jacobian matrix of robot and the conditioning number of the matrix, the optimal dexterous region of the robot is found to satisfy desired dexterity. The successful clinical application verifies the effectiveness of the robot system

Robot assistant surgical system is currently a research focus. This paper introduces a tele-neurosurgery system joined developed Beihang university and General Navy Hospital of PLA, China. The content describes the system structure, important procedures, modules, safety and convenience consideration. The system has successfully performed three teleneurosurgery operation between Beijing and Yan'an, Shanxi province via public Internet. The experiment results proved the system is feasible, safe and low-cost

A computer and robot assisted telesurgical system for stereotactic neurosurgery is presented in this paper. Using the user friendly interface for surgical planning, the surgeons can make the surgical planning on the model reconstructed in the computer, and marker registration is used to create the mapping between the patient's head and the 3D-brain model. When appropriate entrance position on the skull and entrance trajectory are determined through the surgical planning, they are exported to remote physical medical robotic system, via the Internet, for real-world execution. Remote robotic system is not only used as a navigational tool to direct the surgery planning, but also used as an instrument platform to assist surgeons to accomplish the operation. This computer and robot assisted tele-neurosurgery system has been successfully used in clinical application.

This paper introduces the research project of robot assisted minimally invasive neurosurgery. Using visualization technology, the system reconstructs and displays the 3D model of the patient's inner structure in the computer. Thus the surgeons can plan the surgery on the model in the computer. Marker registration is used to create the mapping between the patient's head and the 3D-brain model. Robot arm is used as a navigator to direct the surgery planning and as an instrument platform to assist surgeons to accomplish the operation. The results of the clinical application are given to show that the robotic system is effective.