The Biorobotics and Human Modeling Lab, under the direction of George W. Woodruff School of Mechanical Engineering Professor Jun Ueda, have developed a patient mounted injection needle robot for use in magnetic resonance elastography (MRE), a technology that combines MRI imaging and low-frequency vibrations to create a map (elastogram) that images the stiffness of soft tissues. Working in conjunction with the Stevens Institute of Technology and the Mount Sinai Hospital, the team developed non-ferromagnetic lead zirconate titanate (PZT) actuators that allow for usage in the magnetic field area produced by MR imaging.
https://www.me.gatech.edu/robotic-diagnostics-degenerative-disc-disorder-Ueda