Mechanical Design of a Craniotomy Robotic Manipulator Based on Optimal Kinematic and Force Performance

摘要

The present paper introduces the mechanical design of a robotic manipulator for craniotomy application considering its kinematic and force transmission ability. The craniotomy is a surgical technique that allows the surgeon to access the patient's brain by drilling and cutting the skull. The technical requirements of this application are explained. A dedicated mechanical architecture is proposed. This serial spherical arm is analysed in terms of kinematic and force transmission. An optimal mechanism is selected, designed and its actuator are selected to with respect to the identified performances. The global design of the manipulator is analysed and adjusted to reduce the structural deformation.