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A new 4-DOF parallel robot for MRI-guided percutaneous interventions: Kinematic analysis

In this paper, we present the concept of a novel 4-DOF parallel robot for MRI-guided percutaneous interventions. This system belongs to the class of patient-mounted robots, with two parallel circular stages along which two actuating joints move. As a first step, we present the concept of the robot and its kinematic analysis. This robot has the potential of increased rigidity and reduced inertial effect compared to its predecessor. It also minimizes the number of moving components, which enhances safety during the robot's operation.