This paper presents the design of a MRI compati-ble piezoelectric actuated 6-DOF robot integrated with a high-resolution fiber optic force sensor for image guided brachytherapy. The MRI compatibility test of the robot and the calibration result of the sensor demonstrate the real-time piezoelectric actuation and sensing capability. The next step of this work will focus on packaging the opto-mechanical system and attain robust and portable interface with the robot controller. Needle steering with the proposed robot prototype will be performed to demonstrate the targeting accuracy in live tissue. Sensor hysteresis, fluctuation and drift would be further investigated with multiple needle insertions and retractions