Kinematic Modeling of a Trepanation Surgical Robot System

This paper presents the concept of a parallel medical robotic service system to assist in surgical procedure involving precise exploratory trepanation holes patient’s skull. The target position and orientation tool cranial region is determined using prior intracranial image analysis an external imaging system. A trepanning actuation attached end-effector robot. will act as accurate positioner for drill intervention area. conceptual design mechanical subsystem robot was developed SolidWorks 2022 software environment. virtual model kinematic chain assumed parameters were used analytically derive equations describing inverse kinematics task. An forward task manipulator also carried out analytical numerical methods. workspace performed Matlab based on significantly advances field by presenting subsystem, deriving equations, conducting thorough analysis, establishing foundation subsequent control-algorithm development.