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This paper presents a versatile magnetic resonance imaging (MRI) compatible concentric tube continuum robotic system. The system enables MR image-guided placement of a curved, steerable active cannula. It is suitable for a variety of clinical applications including image-guided neurosurgery and percutaneous interventions, along with procedures that involve accessing a desired image target, through a curved trajectory. This 6 degree-of-freedom (DOF) robotic device is piezoelectrically actuateddoi:10.1109/icra.2012.6224550 dblp:conf/icra/SuCSCCRWF12 fatcat:4jof7rxginfsld6ax26qh5bznm