| 主权项 |
1. A computer-controlled method for performing a medical procedure in a magnetic-resonance-imaging (MRI) machine, the method comprising:
compressing bodily tissue of a portion of a patient using a plurality of pairs of elongate links including a first pair of links, a second pair of links and an Nth pair of links, where N is an integer larger than 2, and wherein each one of the plurality of pairs of links includes:
a first link and a second link, wherein each link of the pair of links has a first end and a second end;a revolute joint wherein the revolute joint connects a location between the first end and the second end of the first link to a location between the first end and the second end of the second link; anda plurality of spherical joints that includes a first spherical joint, a second spherical joint, a third spherical joint, and a fourth spherical joint, wherein the first spherical joint is attached to the first end of the first link, the second spherical joint is attached to the second end of the first link, the third spherical joint is attached to the first end of the second link, and the fourth spherical joint is attached to the second end of the second link,wherein the first and fourth spherical joints of the first pair of links are the third and second spherical joints, respectively, of the second pair of links of a row of the plurality of pairs of links, and the third and second spherical joints of the first pair of links are the first and fourth spherical joints, respectively, of the Nth pair of links of the row;such that a first area of biological tissue is exposed between the first pair of links and the second pair of links and a second area of biological tissue is exposed between the first pair of links and the Nth pair of links; andunder control of a computer system:
activating a high-strength magnetic field of at least one Tesla that extends through the portion of the patient; obtaining MRI image data of the portion of the patient; and based on the obtained MRI image data, moving a medical-procedure probe to a position on a circumference of a first circle that is perpendicular to and surrounding a first rotational axis that passes through the biological tissue and an orientation that addresses a selected one of the first area of exposed biological tissue and the second area of exposed biological tissue using a plurality of positional degrees of freedom to position the probe relative to the compressed bodily tissue, wherein the plurality of positional degrees of freedom include a first degree of freedom that determines a first coordinate position of the probe on the circumference of the first circle and at a first rotational angle relative to the first rotational axis that passes through the biological tissue, a second degree of freedom that determines a height of the probe, a third degree of freedom that determines a pitch angle of the probe, a fourth degree of freedom that determines a second rotational angle of the probe relative to a second rotational axis that is not the first rotational axis, and a fifth degree of freedom defined by a probe-extension line that extends along a longitudinal axis of the probe, and then extending the probe along the probe-extension line into the selected exposed biological tissue of the portion of the patient using the fifth degree of freedom. |
