Control Paradigm and Design for a Novel MR-Compatible Tele-Robotic System for MRI-Guided Neurosurgery

ln this paper, the control paradigm for a novel modular tele-robotic system for MRI-guided neurosurgery is presented. Two surgical methods of brain biopsy procedures using MR images are also presented. The overall design paradigm, mechanical design for the slave manipulator, and its control architecture are discussed. A physical prototype of the slave manipulator and controller architecture and its components are being constructed.