Diagnostic and interventional medical imaging is today essential in medicine and is at the heart of the patient care journey. Imaging techniques still need to evolve to better understand, detect, diagnose, predict and cure various pathologies (neurological, oncological, vascular...). Several challenges are to be met in the coming years: develop new imaging methods to discover new image-based biomarkers; be part of translational research with preclinical imaging of animal models for a better understanding of the mechanisms of development and therapy of pathologies; help doctors interpret and analyze the many images of different modalities for the same patient, whether for diagnosis or in interventional imaging (pre/per-operative) by combining robotics to develop new treatment tools. To meet these various challenges, which are already part of the research priorities of the partner laboratories, the R-MRI project is based on three complementary scientific guidelines: - the emergence of in vivo imaging modalities - medical robotics and interaction - artificial intelligence for health.