The first application of a [[robot]] in medicine was in the field of neurosurgery when an industrial robot, [[PUMA 200]], was successfully used in a frame-based configuration for a brain biopsy procedure in 1985 
((Kwoh, Y.S., Hou, J., Jonckheere, E.A., Hayati, S.(1988). A Robot
with improved absolute positioning accuracy for CT guided
stereotactic brain surgery. IEEE Transactions on Biomedical
Engineering, vol. 35, no. 2, p. 153-160, DOI:10.1109/10.1354)).