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This paper presents a surgical master-slave teleoperationsystem for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. The slave robot consists of a piezoelectrically actuated 6-degree-of-freedom (DOF) robot for needle placement with an integrated fiber optic force sensor (I-DOF axial force measurement) using the Fabry-Perot interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging. Bydoi:10.1007/s10439-017-1839-z pmid:28447178 pmcid:PMC5529224 fatcat:bpirhewjonhbpfmyzlthqmorgu