A magnetic resonance imaging (MRI) system and methods for use with a medical, e.g., a surgical, robotic system, involving an MRI apparatus configured to operate with the surgical robotic system, the MRI apparatus having at least one low-field magnet, the at least one low-field magnet configured to generate a low magnetic field, and the low magnetic field comprising a magnetic flux density in a range of approximately 0.1 Tesla (T) to approximately 0.5 T, whereby a standoff between the MRI apparatus and the surgical robotic system is reduced.