The MAMRI robot is a pneumatic stepper motor driven six degree of freedom MR-safe robotic arm. It can be used during MRI biopsies to aid with real-time needle allignment. This could possible save operating time, and increase workflow and clinical success.
The 6-DoF robot has to operate within the limited space of the MRI bore without any collisions with the MRI or with the patient. To achieve this, a path planning and control algorithm needs to be implemented. To determine the current end-effector position and the desired setpoint expressed in the joint configuration, forward- and inverse kinematics are implemented.