{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T16:18:33Z","timestamp":1758817113715,"version":"3.41.2"},"reference-count":26,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2018,1,15]],"date-time":"2018-01-15T00:00:00Z","timestamp":1515974400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,1,15]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title><jats:p>Removing the bone flap is a compulsory step in open skull surgeries and is very cumbersome and time-consuming. Exerting large forces during the milling and cutting of the skull renders the surgeon exhausted and consequently increases probable errors in further task of manipulating the sensitive brain tissue. This paper aims to present the development of a robotic system capable of perforating and cutting the required bone flap without restraining the surgeon.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title><jats:p>For the purpose of optimization, the target workspace is estimated by 3D modeling of the sample skull and bone flaps of targeted surgeries. The optimization considers kinematic performance matrices and the extracted workspace requirements by assigning scores to each possible design and finally selects the design with highest score.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Findings<\/jats:title><jats:p>The design utilizes a parallel remote center of motion mechanism. Coordinating the remote center of motion (RCM) of the mechanism with the center of a sphere which circumscribes the skull, the milling tool is always nearly perpendicular to the skull bone. The paper presents the concept design, optimization criteria and finally the optimal design of the robot and the fabricated prototype. Tests indicate that the prototype is able to sweep the target workspace and to exert the required forces for bone milling.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Originality value<\/jats:title><jats:p>The workspace requirements of the craniotomy\/craniectomy surgeries are investigated and converted into one quantitative target workspace. An optimized design for a surgical robot is developed which satisfies the workspace requirements of the targeted surgeries.<\/jats:p><\/jats:sec>","DOI":"10.1108\/ir-08-2017-0144","type":"journal-article","created":{"date-parts":[[2017,12,8]],"date-time":"2017-12-08T06:43:16Z","timestamp":1512715396000},"page":"78-88","source":"Crossref","is-referenced-by-count":11,"title":["Analysis, optimization and prototyping of a parallel RCM mechanism of a surgical robot for craniotomy surgery"],"prefix":"10.1108","volume":"45","author":[{"given":"Mohammadreza","family":"Dehghani","sequence":"first","affiliation":[]},{"given":"Majid","family":"Mohammadi Moghadam","sequence":"additional","affiliation":[]},{"given":"Pourya","family":"Torabi","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"edition":"3rd ed.","volume-title":"Principles and Practice of Pediatric Neurosurgery","year":"2013","key":"key2020100100501353800_ref001"},{"key":"key2020100100501353800_ref002","first-page":"1694","article-title":"Workspace analysis of a parallel manipulator with one redundant DOF for skull-base surgery","volume-title":"Intelligent Robots and Systems, 2001","year":"2001"},{"issue":"5","key":"key2020100100501353800_ref003","doi-asserted-by":"crossref","first-page":"257","DOI":"10.3109\/10929080309146061","article-title":"Identification of milling parameters for manual cutting of bicortical bone structures","volume":"8","year":"2003","journal-title":"Computer Aided Surgery"},{"issue":"2","key":"key2020100100501353800_ref004","doi-asserted-by":"crossref","first-page":"168","DOI":"10.1002\/rcs.85","article-title":"Robot\u2010and computer\u2010assisted craniotomy: resection planning, implant modelling and robot safety","volume":"2","year":"2006","journal-title":"The International Journal of Medical Robotics and Computer Assisted Surgery"},{"key":"key2020100100501353800_ref005","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2012\/401613","article-title":"Medical robots: current systems and research directions","volume":"2012","year":"2012","journal-title":"Journal of Robotics"},{"key":"key2020100100501353800_ref006","unstructured":"Bevirt, J.B., Moore, D.F., Norwood, J.Q., Rosenberg, L.B. and Levin, M.D. (2007), \u201cMethod and apparatus for providing an interface mechanism for a computer simulation\u201d, Google Patents, available at: www.google.com\/patents\/US7249951"},{"issue":"4","key":"key2020100100501353800_ref007","doi-asserted-by":"crossref","first-page":"409","DOI":"10.1016\/j.mechmachtheory.2003.09.005","article-title":"On the 5R spherical, symmetric manipulator: workspace and singularity characterization","volume":"39","year":"2004","journal-title":"Mechanism and Machine Theory"},{"issue":"5","key":"key2020100100501353800_ref008","article-title":"Robotic and computer-aided surgery in the operating room of 2010","volume":"28","year":"2001","journal-title":"Industrial Robot: An International Journal"},{"issue":"6","key":"key2020100100501353800_ref009","doi-asserted-by":"crossref","first-page":"508","DOI":"10.1108\/IR-03-2015-0055","article-title":"State of the art in robots used in minimally invasive surgeries: Natural Orifice Transluminal Surgery (NOTES) as a particular case","volume":"42","year":"2015","journal-title":"Industrial Robot: An International Journal"},{"first-page":"385","article-title":"Optimum design of a new craniotomy robotic manipulator based on experimental motion and force analyses in real craniotomy environment","year":"2015","key":"key2020100100501353800_ref010"},{"issue":"1","key":"key2020100100501353800_ref011","doi-asserted-by":"crossref","first-page":"42","DOI":"10.3109\/10929080309146102","article-title":"Experimental robotic milling in skull-base surgery","volume":"8","year":"2003","journal-title":"Computer Aided Surgery"},{"key":"key2020100100501353800_ref012","unstructured":"Fusetti, S. 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