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Today, the complexity and high technical requirements of neurosurgical operations are so demanding that modern robotic achievements and advances of accompanied technologies appear as the immanent means, which can significantly improve neurosurgical practice. A novel robotic system (RONNARObotic NeuroNAvigation) for application in neurosurgery is presented. The RONNA consists of two conventional articulated robot arms with a total of 13 degrees of freedom. A rigid and accurate robot is used for precise targeting of planned operating points and a compliant robot is used as operative assistant. A distinctive marker was developed for the purpose of precise localization and registration of the patient's head. A novel visual calibration method is presented. The developed dual arm neurosurgical system enables flexible and reliable application with embedded behaviour based control providing intuitive interaction with surgical team and new possibilities compared to the existing surgical robot solutions.

Background: Robotic neuronavigation is becoming an important tool for neurosurgeons. We

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The level of autonomy is the most important feature by which the modern robotic systems development is directed. Furthermore, if the robots are supposed to work together in order to solve a complex task, their workspaces are shared. In this case, the robots present dynamic obstacle to each other. This paper presents a solution of the problem of motion coordination of two robots with overlapping workspaces based on co-evolutionary algorithm for simultaneous motion planning of the two robots. A method for exact calculation of the solution coding chromosome length based on physical limitations of the robots is proposed. The algorithm is evaluated in a simulation environment developed in Matlab. Implementation to the real industrial FANUC Lr Mate 200iC robots is performed. The simulation and implementation show high potential in terms of convergence robustness and time.

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