首先，研制了一种五自由度脑外科机器人结构，利用D—H方法计算了机器人运动学的正反解方程。

First, a 5-dof brain surgery robot structure was developed. It used the D-H method to resolve the kinematics problems.

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脑外科手术需要最熟练的主刀手，但是现在即使是神经外科医生也开始向机器人求助。

BRAIN surgery calls for the most accomplished hands, but even neurosurgeons are now turning to robots for help.

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为了避开脑部重要组织，降低手术造成的损伤，脑外科手术机器人需要具有良好的任务灵活性，可以辅助医生将手术针按照特定位姿精确定位到病灶点上。

Task dexterity is of importance for the brain surgical robots to aid surgeons to locate the focus precisely and alleviate the injuries to the important brain tissues.

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