H. Elhawary, Z. T. Tse, A. Hamed, M. Rea, B. L. Davies et al., The case for MR-compatible robotics: a review of the state of the art, The international journal of medical robotics and computer assisted surgery, vol.4, issue.2, pp.105-113, 2008.

O. Piccin, N. Kumar, L. Meylheuc, L. Barbé, and B. Bayle, Design, development and preliminary assessment of grasping devices for robotized medical applications, ASME 2012 IDETC/CIE, pp.65-73, 2012.
DOI : 10.1115/detc2012-70634

I. Bricault, N. Zemiti, E. Jouniaux, C. Fouard, E. Taillant et al., Light puncture robot for CT and MRI interventions, Engineering in Medicine and Biology Magazine, vol.27, issue.3, pp.42-50, 2008.
DOI : 10.1109/emb.2007.910262
URL : https://hal.archives-ouvertes.fr/hal-00387377

D. Sun, C. Willingham, A. Durrani, P. King, K. Cleary et al., A novel end-effector design for robotics in image-guided needle procedures, Int J Med Robot, vol.2, issue.1, pp.91-97, 2006.
DOI : 10.1002/rcs.66
URL : http://europepmc.org/articles/pmc2386879?pdf=render

Q. Boehler, M. Vedrines, S. Abdelaziz, P. Poignet, and P. Renaud, Toward an MR-compatible needle holder with adaptive compliance using an active tensegrity mechanism, 2014.
URL : https://hal.archives-ouvertes.fr/lirmm-01275440

S. Abdelaziz, L. Esteveny, P. Renaud, B. Bayle, L. Barbé et al., Design considerations for a novel MRI compatible manipulator for prostate cryoablation, International journal of computer assisted radiology and surgery, vol.6, issue.6, pp.811-819, 2011.
DOI : 10.1007/s11548-011-0558-4

R. Motro, Tensegrity: Structural Systems for the Future, 2003.

J. L. Herder, Energy-free systems: theory, conception, and design of statically balanced spring mechanisms, 2001.

Q. Boehler, M. Vedrines, S. Abdelaziz, P. Poignet, and P. Renaud, Parallel singularities for the design of softening springs using compliant mechanisms, ASME 2015 IDETC/CIE
URL : https://hal.archives-ouvertes.fr/lirmm-01276756