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中文摘要：
针对核磁共振环境下穿刺手术的定位难题，采用机器人串并联机构设计并运用气动驱动方式，研制出6自由度的穿刺定位机器人．结果表明，所研制的穿刺定位机器人能够满足穿刺机器人与核磁共振环境中结构和材料的兼容性，实现了核磁共振环境下穿刺手术的机器人定位．
英文摘要：
The puncture surgery under MRI is always operated by the doctors; hand, in which the patients are scanned multiple times, and the process is of low efficiency, high cost, which is difficult for doctors to finish the surgery. A novel puncture location robot under MRI with 6 degree of freedom was provided, which uses series and parallel mechanism design and driven by pneumatic. The magnetic resonance compat ibility of the surgery robot was studied, including structure compatibility and material compatibility, and the location problem in puncture surgery was solved.
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