The workspace is an important kinematics index of robot and workspace analysis of a surgical robot is a key link in structural optimization and surgery planning.First

the point cloud of workspace is generated by using the Monte Carlo method and the boundary extraction method of partitioning by angle is put forward to get the boundary points of the point cloud.On the basis of the boundary points

the Alpha Shapes algorithm is employed to reconstruct the workspace.Compared with conventional workspace surface solving method

this method has higher precision and better versatility

for it is convenient to adjust theαvalue according to different workspace types.Finally

the volume of the workspace is calculated with numerical integration method

a foundation for robot carrying out surgery is provided.