Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

This paper deals with a robotic manipulator dedicated to craniotomy remote center of motion based on Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed handle the drilling tool through requested Degrees Freedom (DoF) two rotations. architecture allows one degree redundancy according total DoF. Thus, first contribution this work focuses experimental analysis surgery tasks. Secondly, its behavior improved, taking advantage using spinning as reconfiguration variable. angle modulation reconfigurable minimize motor torques. A series capture and force experimentations performed for kinematic interaction characterizing Burr hole procedures. Experimentations were carried out by neurosurgeon human cadaver, ensuring highly realistic conditions.