Percutaneous MR-guided interventions with needles require fast pulse sequences to image the needle trajectory with minimal susceptibility artifacts. Spin-echo pulse sequences are well suited for reducing artifact size; however, even with singleshot turbo spin-echo techniques, such as rapid acquisition with relaxation enhancement (RARE) or half-Fourier acquisition single-shot turbo spin-echo (HASTE), fast imaging remains challenging. In this work we present a HASTE pulse sequence that is combined with inner-volume excitation to reduce the scan time and limit the imaging field of view (FOV) to a small strip close to the needle trajectory (targeted-HASTE). To compensate for signal saturation from fast repeated acquisitions, a magnetization restore pulse (driven equilibrium Fourier transform (DEFT)) is used. The sequence is combined with dedicated active marker coils to measure the position and orientation of the needle so that the targeted-HASTE image slice is automatically repositioned. In an animal experiment the coils were attached to an MR-compatible robotic assistance system for MR- Currently, interventions with MR guidance are primarily performed in open MR systems, which provide better access to the patient. Unfortunately, open clinical systems with field strengths below 1 Tesla suffer from low signalto-noise ratios (SNRs). Furthermore, gradient systems are limited in strength, slew rate, and homogeneity, which affects both image update rates and quality. The main advantage of high-field systems is that the higher SNR allows for faster signal sampling with image update rates of several images per second. For these reasons it is desirable to perform interventions in closed-bore, high-field MR systems.During percutaneous interventions with needles, the closed-bore construction of high-field systems can be partially compensated for by passive or active robotic assistance systems that give mechanical stability to the needle trajectory (1). Commercial breast biopsy systems, for example, use dedicated breast coils with passive markers and grid systems to both hold and position the biopsy needle. Recently a fully MR-compatible robotic assistance system was developed (2) that consists of a pneumatically driven robot arm and a distal instrument holder. With this system the needle trajectory is defined using initial planning images of the target region. The assistance system then places the needle tip at the skin insertion point and aligns the instrument with the planned trajectory. Finally, the operator manually advances the needle to the target point.During advancement of the needle, continuous image guidance can become necessary in anatomical regions where motion is present. For example, if the needle is inserted into a liver lesion, breathing motion will cause a cyclic displacement of tissue in the head-feet direction, which may lead to substantial differences between the planned and the actual needle trajectory. Unfortunately, optimized real-time pulse sequences for needle display, which are less susceptible to n...