Validation of Three KUKA Agilus Robots for Application in Neurosurgery

In this paper, we verify three different 6 degrees of freedom Kuka Agilus robots for application in neurosurgery. Application specific reachability maps are generated for robots with 707 mm (R700), 901 mm (R900), and 1101 mm (R1100) horizontal reach. The reachability of each robot reflects a working volume of a standard stereotactic frame which utilizes the center of arc principle. A working volume with 100% reachability yield has been identified for the R900 and R1100 robots when the robot is positioned sideways to the patient. The R700 robot doesn't have a 100% reachability yield work volume. Robot configurations within the reachability map are further optimized given two dexterity performance indices: the condition number and a new fuzzy joint limit avoidance function. In the experiments, we have further evaluated the impact on robot work volume given robot orientation with respect to the patient. After reorienting the robot a significant increase in work volume with 100% reachability yield was obtained for all three robots.