Hashem Yousefi - MS .Student ,Biomemedical Engineering Department , Amirkabir University of technology, Tehran, Iran
Mostafa Rostami - Professor ,Biomemedical Engineering Department , Amirkabir University of technology, Tehran, Iran
Foad S.Farimani - MS .Student ,Biomemedical Engineering Department , Amirkabir University of technology, Tehran, Iran

In the following of development of primary design and fabrication process of MRI compatible assistant surgery robot (MCRobot) for the purpose of diagnose and treatment via placement , injection and asperation method , in this paper we discuss the dynamic modeling of conceptual mechanism design of the robot. Because of close loop control system and also cable actuated system , results from modeling of proposed robot can be used as an appropriate guidance on control part . we assume in this work that needle has one degree of freedom and needle deflections and the other orientations are zero and also we have a viscoelastic moled for the tissues. Simulation results validate our previous study on transfer of kinematics and kinetics on the robot links to explain the tasl of manipulator. As this robot works on MRI condition, the user must have good knowledge about the motion mechanism of the manipulator. The result obtained from modeling of robot can be used to instrct operator inexpensively for applying this technology.

MRI compatible robot, conceptual design , dynamic modeling, needle insertion.