Biopsy is a typical needle type intervention procedure performed under radiographic image equipment such as computed tomography (CT) and cone-beam CT [1]. This minimally invasive procedure is a simple and effective way for identifying cancerous condition of a suspicious tissue but radiation exposure of patients and interventional radiologists is a critical disadvantage [2].

In order to reduce the radiation exposure and improve accuracy in targeting of the needle, there have been various attempts using robot technology. The kinematic mechanisms, such as parallelograms, gimbals, belt and chain, and other kinematic linkages, have been developed to adjust pose of a needle [3–6]. A few systems are commercialized as combined system of the mechanism and planning software [7,8]. Mainly, the devices developed so far are for accurate positioning of the needle, not to perform full procedure of biopsy...

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