Extending reach inside the MRI-bore: a 7-DOF low-friction, hydrostatic teleoperator

A hydraulic teleoperator for remote access inside an imaging scanner bore, comprising:

• (a) a base from which is attached a multiple degree of freedom mechanism,
• wherein each degree of freedom of the multiple degree of freedom mechanism is controlled by hydraulic joints having chambers connected to a first set of hydraulic fluid lines,
• wherein the multiple degree of freedom mechanism is situated inside the imaging scanner bore, and
• wherein a teleoperator controls motions and forces of the multiple degree of freedom mechanism from a multiple degree of freedom control mechanism situated outside the imaging scanner bore;
• (b) a single degree of freedom tool mechanism attached to a distal end of the multiple degree of freedom mechanism, wherein the single degree of freedom tool mechanism is situated inside the imaging scanner bore where the single degree of freedom tool mechanism controls a tool, wherein motions and forces of the single degree of freedom tool mechanism are controlled via second set of hydraulic fluid lines to an operator input that is outside the imaging scanner bore,
• wherein the tool is a needle, and the single degree of freedom tool mechanism comprises a needle driver to translate the needle in insertion and retraction directions where the directions are defined in a longitudinal direction of the needle, and a needle holder to grip the needle via a retraction lock when a clutch mechanism of the needle driver releases the needle to hold a position of the needle during reposition of the needle driver.