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. In this paper, we would propose a novel mechanism of sur-gical 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 mechan-ical safety and simple shape. The combination of stereotactic imaging and precise positioning would enable a less invasive surgery in brain and spine surgery.

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