MRI-guided needle insertion is considered as a radiation-free, minimally invasive treatment. However, constraints such as the confined space within the gantry and strong magnetic field environment necessitate the use of robotic technology to assist the operator. Many existing MRI-compatible robots face challenges of increased size and complexity owing to the need for multiple degree-of-freedom (DOF). Therefore, we developed a compact 5-DOF manipulator system using a spherical gear-based pneumatic motor. This motor generates pitch and yaw DOF within a single module, thereby enabling a simple joint structure without a rotational center offset. This paper details the manipulator's mechanical design and evaluates its puncture accuracy using phantoms, as well as its compatibility within a 1.5-T MRI environment. The experimental results showed no reduction in the image SNR owing to robotic actuation, achieving an average error of 4.5 mm with this prototype. This accuracy is sufficient for accessing clinically significant lesions, thereby demonstrating the effectiveness of the proposed method. Furthermore, the system was confirmed to operate normally even under remote actuation conditions via a 6.5-m-long pneumatic transmission line. These results demonstrate the fundamental utility of the proposed non-magnetic pneumatic drive mechanism, suggesting the potential for future application in MRI-guided punctures.
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