Abstract: A robot that is used to move a transducer of an MRI-guided focused ultrasound (FUS) system that can focus ultrasound at specific target spots in a patient's body to induce micro-mechanical effects. The robot has a bottom framework, a lower translation platform mounted on the bottom framework for linear motion with respect to the bottom framework. A robot base mounted on the lower translation platform, a rotation platform mounted on the robot base for rotational motion with respect to the robot base, an upper translation platform mounted on the rotation platform for linear motion with respect to the robot base and an end-effector mounted on the upper translation platform and supporting the FUS transducer such that motion of the end-effector is due to motion of the platforms while aiming the transducer focal point.