[CRANIO--development of a system for computer- and robot-assisted craniotomy]

In the framework of the DFG project CRANIO, we are dealing with the problems of computer-assisted planning and robot-assisted realization of craniotomy, with optional skull reconstruction. A CT dataset was obtained from a phantom skull model and basic operation planning as well as different registration methods were performed. As one option it is possible to mill a contour on the skull or even to remove the entire area with a robot-guided microsurgical milling tool. In this context, work space tests were performed with a hexapod parallel robot. The milling of any contour geometry could be realized with different tool angles using the existing CRIGOS robot system without additional axes.