手術機器人學(Surgical robotics)乃近年來廣受矚目的機器人技術，雖然目前已有多種不同手術導向的機器人被提出，應用於腦神經外科開顱手術的機器人研發工作卻仍相當少見，且尚未有專門針對開顱手術動作需求所設計的專用型機器人。本研究之目的，即針對開顱手術的運動需求，設計一部專用於開顱動作的機器人機構。本研究所設計之新型開顱機構具有以下幾點特色：
(1) 與現有串聯式六軸開顱機器人相較，本設計使用串並聯混合結構，機器人具有較佳的強健性(Robustness)，可提供較穩定的開顱鑽孔與切削力；
(2) 受機構本身之構造限制，由機器人夾持的開顱刀具可隨時與顱骨表面保持垂直，提供最佳的頭骨鑽孔與切削角度；
(3) 刀具的環狀切削與切削深度為運動解耦(Kinematic decoupled)，可大幅降低機器人控制難度，且臨床操作上較為方便；
(4) 機構在需求運動範圍內不存在奇異位置(Singularity-position)。
本文首先回顧與顱骨手術相關之三種顱骨手術機器人，包含顱骨鑽孔、顱骨切削與開顱手術機器人，並綜整比較其機構特性。然後，針對開顱動作深入分析，據此提出一種專用於開顱手術之機器人機構。接著，進行該新型機構的位移分析、速度分析、奇異構形解析與運動性能分析，並以最佳化靈敏性(Dexterity)為目標，進行機構尺寸設計。最後，製作此機構之機電整合系統，測試其運動效果。本研究所提之開顱手術專用機構平台為全球首例，研究成果期可有助於具體實現機器人於開顱手術之應用。

Surgical robotics is a rapidly developing technology in the field of surgery and robotics. Although there have been many surgical robots developed for different kinds of surgeries, robotic applications in craniotomy is still rarely discussed. Furthermore, as far as we are aware, there is no any robotic manipulator that is specifically designed for craniotomy for meeting its special surgical motion requirements. This thesis is therefore devoted to the kinematic design of a new robotic manipulator towards the application for craniotomy. The proposed robotic structure has the following features:
(1)In comparison to the existing serial-type general-purpose industrial robots for craniotomy, the proposed manipulator has a
better robustness in nature, which provides a firm basement for executing drilling and cutting forces during surgery.
(2)Subject to the mechanical constraints of the robot manipulator, the surgical tool, which is held by the end-effector, always
has its tool axis normal to the skull surface. This provides a best working posture for the tool when drilling and cutting the
skull.
(3)The cutting and drilling DOF (degrees of freedom) of the surgical tool are fully decoupled. It helps reducing the control
complexity of the robot and provides intuitive operation for the surgeon in operating theatre.
(4)The mechanism is singularity-free within the practically-required workspace.
In this thesis, we firstly complete a detailed review among the available robotic systems for skull surgery, i.e., the skull drilling, skull milling, and craniotomy robots. Then, based on the motion requirements of craniotomy procedure, we propose a novel robotic manipulator for craniotomy use. We further complete the position analysis, velocity analysis, kinematic performance analysis, and optimization design for the proposed manipulator. Last, we build up a mechatronic prototype of the robot, verifying the effectiveness and kinematic performance of the manipulator. In conclusion, it is anticipated that the outcome of this research is helpful for the validation of robotically-assisted craniotomy surgery.

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