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| Development of an MRI-Guided Puncture Location Robot with 6 Degree of Freedom |
| MENG Ji-Chao-a, XIE Le-a, b , SHEN Xiang-Long-a |
| (a. National Digital Manufacturing Technology Center; b. Med-X Research Institute, Shanghai Jiaotong University, Shanghai 200030, China) |
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Abstract The puncture surgery under MRI is always operated by the doctors’ hand, in which the patients are scanned multiple times, and the process is of low efficiency, high cost, which is difficult for doctors to finish the surgery. A novel puncture location robot under MRI with 6 degree of freedom was provided, which uses series and parallel mechanism design and driven by pneumatic. The magnetic resonance compatibility of the surgery robot was studied, including structure compatibility and material compatibility, and the location problem in puncture surgery was solved.
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Received: 14 July 2011
Published: 28 September 2012
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