Patient mounted mri and ct compatible robot for needle guidance in interventional procedures

A patient mountable robot, comprising:

• a four link mechanism including four links that form a closed loop structure, the four links including a base link that includes a spherical joint, and the four link mechanism provides two rotational degrees of freedom about the spherical joint for a needle that is configured to pass through the spherical joint;
• a first actuator attached to the four link mechanism that moves the four link mechanism to provide the first of the two rotational degrees of freedom;
• a second actuator attached to the four link mechanism that moves the four link mechanism to provide the second of the two rotational degrees of freedom;
• a first robot base through which the base link of the four link mechanism passes;
• and
• a third actuator attached to the first robot base that linearly translates the base link so that a translational degree of freedom is provided for the needle that is configured to pass through the spherical joint.