This thesis describes research and development of medical device systems and components, with emphasis on image-guided therapy (IGT). The main focus of the research is on technology designed for use in the high-magnetic field environment created by magnetic resonance imaging (MRI) machines. MRI, an increasingly popular diagnostic imaging technology, is now also more commonly used to guide medical procedures in real-time. Remote actuation of robotic systems inside the MRI bore involves the use of devices which adhere to strict safety regulations. This research proposes a new type of 3D-printed pneumatic motor design. Also discussed is the feasibility of integrating the use of haptic force-feedback virtual device technology with medical simulations for training or assistive purposes. Finally, an assistive system for communication with actively scanned patients with disabilities is developed. All this is done from an engineering perspective, with focus on the design, creation, and rapid prototyping iterative process.