The subject invention pertains to a method and apparatus for placing a minimally-invasive access with respect to a patient's bone or other non-
soft tissue. The subject invention can use a drilling 
machine incorporating an 
ultrasound motor. The subject drilling 
machine can be applied to sample, for example, bone biopsies under MRI control. In a specific embodiment, the subject 
ultrasound motor can be completely manufactured of non-magnetic materials, such as plastics, 
titanium, and 
titanium alloy, or ceramics and piezoceramics. The subject drilling apparatus can be placed into an MRI near field without influencing the 
image quality, and without the drilling apparatus itself being disturbed by the MRI 
magnet, gradient, or high-frequency field. The subject invention can incorporate good shielding with the subject drilling apparatus use of these materials, and can achieve minimal, if any, image distortions or so-called artifacts. Thus, the subject invention can involve the problem by use of non-magnetic materials of low 
magnetic susceptibility for the design of an actuation unit.