Provided herein are actuation transmission lines used for robotic systems, for example, MRI guided robots, for image-guided robot-assisted surgical and medical intervention procedures. This actuation transmission lines may include any of the following: one or more sections of a flexible channel; one or more sections of a rigid channel in a connecting relationship with the one or more sections of a flexible channel; solid media disposed inside the channel; one or more mechanical links in contact with the solid media inside the channel electronically or mechanically linked to a power source; a fine-tuning module disposed in the flexible channel; and one or more media motion sensors.