In medical robotic applications, precise positioning and stability are essential, particularly in MRI-guided interventions. Pneumatic robotics offer MRI compatibility, but the range of specialized end effectors remains limited. This project focuses on designing, manufacturing, and testing a pneumatically actuated motion platform with three degrees of freedom (3DOF) to serve as a versatile end effector for medical equipment positioning.
The platform will be evaluated based on accuracy, precision, and responsiveness. By integrating kinematic modelling and inverse kinematics, this research aims to enhance control precision while maintaining the MRI-safe properties of pneumatic systems. The results will contribute to the broader development of MRI-safe robotic solutions, improving automation and efficiency in medical procedures where traditional actuation methods are not viable.