Gravitational lensing is a powerful tool for quantifying the mass content and distribution in distant galaxies. By using milliarcsecond angular resolution observations of radio-loud gravitationally lensed sources it is also possible to detect and quantify small deviations from a smooth mass density distribution, which can be due to low mass substructures in the lensing galaxy. We present high-resolution global VLBI observations of the gravitationally lensed radio source MG J0751+2716 (at z = 3.2), that shows evidence of both compact and extended structure (core-jet morphology) across several gravitational arcs. These data provide a wealth of observational constraints that are used to determine the inner (baryonic and dark matter) mass profile of a group of galaxies and also investigate the smoothness of the dark matter distribution on mas-scales, which is sensitive to possible structures of $10^{6-7}$ M$_{\odot}$ within the lensing halo or along the line-of-sight. Our lens modelling finds evidence for astrometric anomalies in this system, which suggest presence of extra mass structure in the lens model. To date this kind of detailed studies of gravitational lensing systems like MG J0751+2716 has been limited by the currently small sample of radio-loud gravitational lenses. In this context, we also present a new pilot gravitational lens search in the VLBI survey \textsl{mJIVE--20}, in perspective of future surveys with the next generation of radio interferometers.