In one embodiment, the system of these teachings includes a master robot/haptic device providing haptic feedback to and receiving position commands from an operator, a robot controller receiving position information and providing force information to the master robot/haptic device, a navigation component receiving images from an MRI scanner, the navigation component providing trajectory planning information to the robot controller, a slave robot driving a needle, the slave robot receiving control information from the robot MRI controller, and a fiberoptic sensor operatively connected to the slave robot the fiberoptic sensor providing data to the robot controller the data being utilized by the robot controller to provide force information to the master robot/haptic device. In one instance, the present teachings include a fiberoptic force sensor and an apparatus for integrating the fiberoptic sensor into a teleoperated MRI-compatible surgical system. Methods for use are disclosed.
