The needle insertion is widely used in many medical procedures, particularly in the needle biopsy. The cutting force occurred during the insertion process has a significant effect on the cutting outcome. This paper focuses on minimizing the cutting force for two conventional needle insertion methods, the nonrotational and rotational needle insertion. For the nonrotational needle insertion, the secondary bevel angle and angle of rotation, which are two used for grinding the back-bevel and lancet needles, are considered. For the rotational needles, the effects of the insertion speed and the slice-push ratio on the cutting force are investigated. Levels of these design variables are defined using practical needle design configurations found in the literature. A clear trend of the cutting force decreases as the increase of the inclination angle was observed. The optimal cutting force of nonrotational needles was found as 0.242 N with inclination angle of 69.25 deg for the lancet needle and 0.254 N with inclination angle of 66.24 deg for the back-bevel needle. The optimization of rotational needles yielded a configuration of slice-push ratio as 4.66 and insertion speed as 2.01, which resulted in a minimal cutting force of 0.22 N. Besides, the main effects of and the interaction between the design variables on the cutting force are obtained and discussed. These results provide essential information for selecting geometric and cutting speed parameters for the design of nonrotational and rotational needles.