MRI-compatible surgical robot technology is one of the most effective ways to improve the real-time image-guided surgical biopsy. In MRI environment, the robot design is facing the problems of high magnetic field and limited workspace. A pneumatic-driven MRI-guided intervention robot was designed for chest and abdomen surgical biopsy. Based on compatibility and workspace analysis, the specific structure design of the robot was carried out. Then robot coordinate system was established using D-H method and the kinematics analysis was conducted.