Robotic Assist for MR-Guided Surgery Using Leverage and Parallelepiped Mechanism

In this paper, we would propose a novel mechanism of surgical manipulator, which assists the surgeon in precise positioning and handling of surgical devices, like biopsy needle, endscope, in MR-guided surgery. This mechanism can transmit 3 translational and 3 rotational motion from the outside to the inside of MR imaging area using leverage and parallelepiped mechanism. Such a remote actuation is significantly helpful for robotic assist under MR-guided surgery because the strong magnet of MR denies the existence of magnetic and electric devices around imaging area. This mechanism also has merits of the mechanical safety and simple shape. The combination of stereotactic imaging and precise positioning would enable a less invasive surgery in brain and spine surgery.