Basic Concepts in Robotics

This chapter aims to provide a practical introduction to the basic concepts in robotics relevant to neurosurgical robotic systems. We start by introducing different robotic architectures and discussing how these contrasting fundamental approaches are suited to different neurosurgical applications. We then examine the different actuators and mechanisms that give robots motion. Next, we look at the different sensing technologies that allow robots to sense themselves and their external environment. With some knowledge of robot architectures, actuation, and sensing, we then examine how these elements can be combined together into a controllable robotic system. Finally, we introduce the different user-interface paradigms applicable to neurosurgical robots.