Modeling and Mechanical Design of a MRI-Guided Robot for Neurosurgery

Magnetic resonance imaging (MRI) has established itself as a standard tool in clinical diagnostics and advanced brain research, and is one of the real time modalities currently being an intra-operative image of neurosurgery. Robots are known to be accurate manipulation device that can share the digital workspace of MR imagers. It is, therefore, conceivable that MRI-guided robot could improve the accuracy of neurosurgery, and provide great assistance for surgeons to execute the planned neurosurgical maneuver in precise manner. This paper deals with a particular hybrid robot developed for keyhole neurosurgery. The kinematics model, dynamic simulation, the control system, and the functional design of the robot are treated, which focus on the necessary actuators' features characterized on the basis of the dynamic simulations.