Mri compatible robot has artificial model calibration and artificial models

An internal magnetic resonance imagers for medical robot includes a horizontal motion assembly, the vertical motion assembly and a controller. The horizontal motion assembly includes a motion joint operatively coupled to said motion joint and an ultrasonic motor operably coupled to said ultrasound motor encoder. The motor and the encoder are positioned proximate to the articulation of the horizontal motion assembly. The vertical motion assembly operatively coupled to the horizontal motion assembly, the vertical motion assembly includes a motion joint operatively coupled to said motion joint and an ultrasonic motor operatively coupled to said ultrasonic motor Encoder. The motor and the encoder are positioned proximate to the vertical movement of the joint assembly. The controller is operatively coupled thereto, and when the magnetic resonance imager is being used to collect images of the controller is adapted to cut off the power. The medical instrument assembly connectable to the medical robot.