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Specially designed robotic manipulators have been proposed for the performance of minimally invasive interventions under real-time magnetic resonance imaging (MRI) guidance. The design of MR-compatible robotic systems is a challenging task given the limitations imposed by the magnetic nature of the scanning environment but also the geometry of a high-field cylindrical scanner. These issues are discussed with special emphasis on geometric MR-compatibility. Acquired MR images are used for the analysis of the available space inside the scanner in order to provide the necessary input for the design of interventional devices.