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Since a medical robot works in an operating room, close to the patient and the medical staff, it has to satisfy much stricter requirements with respect to an industrial one. From a kinematic point of view, the robot must reach any target position in the patient's body, being as less invasive as possible for the surgeon's workspace. In order to meet such requirements, the right robot structure has to be chosen by means of the definition of suitable kinematic performance indices.<\/jats:p><jats:p>In this paper some task-based indices based on the robot workspace and stiffness are presented and discussed. The indices will be used in a multiobjective optimization problem to evaluate best robot kinematic structure for a given neurosurgical task.<\/jats:p>","DOI":"10.1017\/s026357470999035x","type":"journal-article","created":{"date-parts":[[2009,9,2]],"date-time":"2009-09-02T10:59:06Z","timestamp":1251889146000},"page":"279-296","source":"Crossref","is-referenced-by-count":8,"title":["Toward an optimal performance index for neurosurgical robot's design"],"prefix":"10.1017","volume":"28","author":[{"given":"Alessandro","family":"Gasparetto","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vanni","family":"Zanotto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,9,2]]},"reference":[{"key":"S026357470999035X_ref15","first-page":"821","volume-title":"IEEE International Conference on Robotics and Automation, ICRA 2004","author":"Tian","year":"2004"},{"key":"S026357470999035X_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2006.12.007"},{"key":"S026357470999035X_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.ics.2005.03.137"},{"key":"S026357470999035X_ref31","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0449-0"},{"key":"S026357470999035X_ref24","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704000967"},{"key":"S026357470999035X_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.amjsurg.2004.08.004"},{"key":"S026357470999035X_ref1","first-page":"103","volume-title":"The Operating Room for the 21st Century","author":"Benabid","year":"2003"},{"key":"S026357470999035X_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/S0531-5131(03)00247-4"},{"key":"S026357470999035X_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.09.010"},{"key":"S026357470999035X_ref29","first-page":"19","volume-title":"Proceedings of the 7th Biennial ASME Conference on Engineering Systems Design and Analysis","author":"Rossi","year":"2004"},{"key":"S026357470999035X_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/10.1354"},{"key":"S026357470999035X_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/S0360-3016(00)00790-2"},{"key":"S026357470999035X_ref3","unstructured":"3. 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