The aim of this paper is to present a new robotic system for minimally invasive radio surgery. The system is called DAANS and is used to move a new miniaturized x-ray source called PRS with great precision and repeatability. By means of the DAANS the PRS dose delivery center can be moved linearly along the emission axis and rotated about the same axis. Moreover the DAANS is provided with a load cell which measures the force, along the emission axis, exerted by the PRS on a patient's tissues, and which allows generating an appropriate force feedback on a specifically developed haptic console. The system is now being manufactured and will soon be employed in clinical tests.
