中文摘要：

磁共振图像向导的手术机器人以其定位精度高、重复性好等特点在临床医学中有重要应用价值。为研究其开发过程中的磁共振兼容性和手术过程力反馈的关键技术问题,理论分析了涡电流对磁共振图像的影响,设计了通用、简单且满足磁共振兼容性要求的力反馈系统和针介入手术系统模型,完成了磁共振兼容性以及图像向导实验设计。实验结果表明：力反馈系统和手术针介入系统的磁共振图像兼容性良好,控制系统和数据采集系统工作正常;超声波电机作为一种新的驱动方式可以用于构建MR图像向导的针介入手术机器人;在磁共振图像向导功能测试中,开发的手术针介入系统实现了精确定位。

英文摘要：

Magnetic Resonance Imaging（ MRI）-compatibility and force feedback are critical for developing imageguided needle insertion surgical robot. Due to the limitation of MRI-compatible commercial force sensor,a general and easy assembly force feedback system was proposed to provide solution for needle insertion surgeries. By designing a universal mounting device of Flexiforce sensor,the calculation and MRI-compatibility test were performed in MRI room. A preliminary MRI-guided needle insertion surgical robot which was driven by Ultrasonic motor was esigned with non-ferromagnetic materials. In this paper,the MRI-compatibility test and image guide test of the presented robot were performed in 3.0T MRI scanner. The results show the force feedback system is completely MRIcompatible. Meanwhile,the presented robot successfully reached to the designed target under the guide of MR images in guide test.