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This is problematic because patient motion is typically relative to a grounded surgical robot. In this paper, we characterize the benefits of a new paradigm in which robots are mounted semirigidly and noninvasively to the patient\u2019s head. This paradigm utilizes compact high-precision telerobotic systems that have been designed for this use. We present an initial design concept focused on eye surgery, and demonstrate an order-of-magnitude improvement of within-breathing-cycle motion relative to the robot compared to a pillow rest, with an optional head strap, which is the current standard of care, while essentially eliminating gross relative motion. We conduct a human-subjects study to quantify the relative motion that remains. Finally, we present an alternative design concept that leaves the patient\u2019s face unobstructed, which may be of interest for other kinds of surgery as well. <\/jats:p>","DOI":"10.1142\/s2424905x2350006x","type":"journal-article","created":{"date-parts":[[2023,12,31]],"date-time":"2023-12-31T06:09:57Z","timestamp":1704002997000},"source":"Crossref","is-referenced-by-count":3,"title":["Head-Mounting Surgical Robots for Passive Compensation of Patient Motion"],"prefix":"10.1142","volume":"09","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1563-7082","authenticated-orcid":false,"given":"Nicholas R.","family":"Posselli","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0357-2998","authenticated-orcid":false,"given":"Patrick S.","family":"Wellborn","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"},{"name":"Titan Medical USA Inc., Chapel Hill, NC, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4228-7666","authenticated-orcid":false,"given":"Paul S.","family":"Bernstein","sequence":"additional","affiliation":[{"name":"Department of Ophthalmology and Visual Sciences, Moran Eye Center, University of Utah, Salt Lake City, UT, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1389-224X","authenticated-orcid":false,"suffix":"III","given":"Robert J.","family":"Webster","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0665-1934","authenticated-orcid":false,"given":"Jake J.","family":"Abbott","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA"}]}],"member":"219","published-online":{"date-parts":[[2024,2,19]]},"reference":[{"key":"S2424905X2350006XBIB001","doi-asserted-by":"publisher","DOI":"10.1038\/s41434-021-00294-2"},{"key":"S2424905X2350006XBIB002","doi-asserted-by":"publisher","DOI":"10.1016\/j.ajo.2014.11.025"},{"key":"S2424905X2350006XBIB003","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4939-1086-1_11"},{"key":"S2424905X2350006XBIB004","doi-asserted-by":"publisher","DOI":"10.1016\/j.exer.2018.02.006"},{"key":"S2424905X2350006XBIB005","doi-asserted-by":"publisher","DOI":"10.1016\/S0161-6420(96)30377-1"},{"key":"S2424905X2350006XBIB006","doi-asserted-by":"publisher","DOI":"10.1109\/NEBC.2002.999520"},{"key":"S2424905X2350006XBIB007","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2004.1403783"},{"key":"S2424905X2350006XBIB008","doi-asserted-by":"publisher","DOI":"10.1136\/bjo.76.10.598"},{"key":"S2424905X2350006XBIB009","doi-asserted-by":"publisher","DOI":"10.1038\/s41433-018-0047-x"},{"key":"S2424905X2350006XBIB010","doi-asserted-by":"publisher","DOI":"10.1136\/bmjopen-2012-002497"},{"issue":"7","key":"S2424905X2350006XBIB011","first-page":"731","volume":"85","author":"Loriga B.","year":"2018","journal-title":"Minerva Anestesiol."},{"key":"S2424905X2350006XBIB012","doi-asserted-by":"publisher","DOI":"10.1097\/IAE.0b013e31823bea54"},{"key":"S2424905X2350006XBIB013","first-page":"627","volume-title":"Handbook of Robotic and Image-Guided Surgery","author":"Vander Poorten E.","year":"2019"},{"key":"S2424905X2350006XBIB014","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2022.3169466"},{"key":"S2424905X2350006XBIB015","doi-asserted-by":"publisher","DOI":"10.1016\/j.ajo.2021.11.011"},{"key":"S2424905X2350006XBIB016","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2021.3071135"},{"key":"S2424905X2350006XBIB017","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58104-6_20"},{"key":"S2424905X2350006XBIB018","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-018-0248-4"},{"key":"S2424905X2350006XBIB019","doi-asserted-by":"publisher","DOI":"10.1111\/ceo.14174"},{"key":"S2424905X2350006XBIB020","doi-asserted-by":"publisher","DOI":"10.1111\/aos.14480"},{"key":"S2424905X2350006XBIB021","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2013.2283501"},{"key":"S2424905X2350006XBIB022","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2239552"},{"key":"S2424905X2350006XBIB023","doi-asserted-by":"publisher","DOI":"10.1115\/1.4051686"},{"key":"S2424905X2350006XBIB024","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2013.6610840"},{"key":"S2424905X2350006XBIB025","doi-asserted-by":"publisher","DOI":"10.1109\/CAC.2017.8243985"},{"key":"S2424905X2350006XBIB026","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2017.8037815"},{"key":"S2424905X2350006XBIB027","doi-asserted-by":"publisher","DOI":"10.3390\/s20020428"},{"key":"S2424905X2350006XBIB028","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X16300016"},{"key":"S2424905X2350006XBIB029","first-page":"3389","volume-title":"Proc. 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