This project focuses on the development and control of the Sunram/Mamri MRI-compatible robotic arms for needle-based liver interventions.
The goal is to investigate and implement motion compensation strategies to counteract physiological movements such as breathing, ensuring accurate needle guidance during liver biopsies.
The Mamri robot provides 6DOF positioning via pneumatic stepper motors, enabling safe use within an MRI environment. Depending on technical feasibility, this project may include control design, sensor integration, and evaluation using real-time MRI data or simulated motion.