Robots anatomy

Robots must be able to perform tasks to be useful. Typically, these are tasks that humans would have done. So a robot s anatomy often mimics human anatomy. An industrial robot must be able to swivel at the waist, raise and lower its arm, and operate a gripper or tool. 

Li, M., Ishii, M., Taylor, R.H. Spatial motion constraints using virtual fixtures generated by anatomy. IEEE T. Robot. 23(1), 4-19 (2007)... 

Two approaches were proposed to overcome the issues presented by standard navigations (see Figure 4.9). The first involved the use of patient-specific templates or frames [76]. Based on the principles of the stereotactic frame, this approach involved the construction of a patient-specific drill guide specific to the patient anatomy and the locations of several preimplanted attachment posts. The constructed template is mounted to the posts, and the drill constrained to the planned path. The use of these frames is currently undergoing clinical evaluation [77]. The second approach involves the use of robotics early work involved the modification of industrial robots [78] however, suitable clinical accuracy could not be achieved and methods for integration into the operating room remained unsolved. 

Condino S, et al. How to build patient-specific synthetic abdominal anatomies. An innovative approach from physical toward hybrid surgical simulators. Int J Med Robotics Comput Assisted Surg 2011 7(2) 202—13. 

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