A new system for planning and supporting frameless stereotactic neurosurgery is presented in this paper. Using visualization technology and the data obtained from the scanned images, the system reconstructs and displays the 3D model of the brain structure of the patient in the computer. After the surgeons make the surgery planning on the model in the computer, a robot arm is used as a navigator to locate the pre-defined incisive site and the orientation of incisive route during the operation. Marker registration is used to create the mapping between the actual head of the patient and the 3D brain model reconstructed in the computer. When the robot arm locates at the pre-defined site on the patient's head, various medical instruments will be installed on the tip of the robot arm. Surgeon can use these medical instruments to implement the frameless stereotactic neurosurgery successfully.
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