Research on the structure and design for the parameters optimization of the brain surgical robot

The research on the structure and design for the parameters optimization of the brain surgical robot were performed in order that the brain surgery robot can possess corresponding dexterity and surgery space and assist the surgeon to locate the tools precisely. First, a 5-DOF brain surgery robot structure was developed. It used the D-H method to resolve the kinematics problems. Next, the work space, dexterity and surgery space were simulated using the MATLAB software. The simulation result can be used to help the surgeon to choose the best location and pose for surgery. Finally, a method of optimizing structure parameters was put forward based on the above analysis and the fact that the structure satisfies the surgery requirement was validated through trial.