Clutching Mechanism for Teleoperated In-Bore MRI Guided Biopsies

Limited physical access to target organs of patients inside an MRI scanner is a major obstruction to real-time MRI-guided interventions. Traditional teleoperation technologies are incompatible with the MRI environment and although several solutions have been explored, a versatile system that provides high-fidelity haptic feedback and access deep inside the bore remains a challenge. A passive and nearly frictionless MRI-compatible hydraulic teleoperator is provided designed for in-bore biopsies. A needle driver translates a needle in insertion and retraction directions via a clutch mechanism. A needle holder grips the needle via a retraction lock when the clutch mechanism of the needle driver releases the needle to hold a position of the needle during reposition of the needle driver.