DAANS is a system for neurosurgery, which allows the surgeon to control position, movements and rotation of surgical instruments, in particular of an X-Ray source called PRS, inside the brain. The robotic system is made up by a master-slave haptic interface: the surgeon interacts with a console that represents the command interface for the robotic actuator. The X-Ray source movement is commanded by the operator acting on the master. The master-slave system is haptic, i.e. the contact forces occurring during slave and environment interaction are felt by the operator.