Development of an MRI-Guided Puncture Location Robot with 6 Degree of Freedom

Abstract

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.

Key words: nuclear magnetic resonance imaging(MRI), puncture surgery, location, robot, compatibility

CLC Number:

TP 242

MENG Ji-Chao-a, XIE Le-a, b , SHEN Xiang-Long-a. Development of an MRI-Guided Puncture Location Robot with 6 Degree of Freedom[J]. Journal of Shanghai Jiaotong University, 2012, 46(09): 1436-1439.

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Development of an MRI-Guided Puncture Location Robot with 6 Degree of Freedom

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