Medical robot and operation thereof

A method for operating a medical robotic device comprising a kinematic chain and an end effector positioned at an end of the kinematic chain, wherein the medical robotic device is configured to perform a diagnostic measure, a therapeutic measure, or diagnostic and therapeutic measures, the method comprising:

• predetermining at least one position to be reached by the end effector;
• evaluating at least two movement sequences of the medical robotic device using an optimization criterion, by which the end effector reaches the respectively predetermined position, wherein the at least two movement sequences comprise different movement sequences having different configurations of the kinematic chain with different accuracies while having a same predetermined position of the end effector, wherein the respective accuracy of a movement sequence of the at least two movement sequences is a function of a position the medical robotic device takes up and a speed with which the position is taken up, and wherein the optimization criterion takes into account inaccuracies expected to occur during different movement sequences due to kinematic robotic properties of the medical robotic device;
• selecting the movement sequence of the at least two movement sequences with a best evaluation result as an optimum movement sequence, wherein the optimum movement sequence is the movement sequence with fewest expected inaccuracies due to the kinematic robotic properties of the kinematic chain of the medical robotic device;
• and
• implementing the optimum movement sequence, so that the respective predetermined position is reached by the end effector.