Patent ID: 8280485

Claim:
A medical robot for use inside a magnetic resonance imager connectable to a medical instrument assembly comprising: a horizontal motion assembly including a horizontal motion joint, a horizontal ultrasonic rotary motor operably connected to said horizontal motion joint, a horizontal lead screw operably connected to said horizontal ultrasonic rotary motor, and a horizontal encoder operably connected to said horizontal ultrasonic rotary motor, wherein said horizontal ultrasonic rotary motor and said horizontal encoder are positioned proximate to said horizontal motion joint; a vertical motion assembly operably connected to the horizontal motion assembly, the vertical motion assembly including a vertical motion joint, a vertical ultrasonic rotary motor operably connected to said vertical motion joint, a vertical lead screw operably connected to the vertical ultrasonic rotary motor, and a vertical encoder operably connected to said vertical ultrasonic rotary motor, wherein said vertical ultrasonic rotary motor and said vertical encoder are positioned proximate to said vertical motion joint and the medical instrument assembly is operably connectable to one of the vertical motion assembly and the horizontal motion assembly; a controller operably connected to the horizontal motion joint and the vertical motion joint; and a plurality of gearing mechanisms, one attached to each of the ultrasonic rotary motors for reducing the rotational speed of the robot.