This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 ㎜ error for the 90 ㎜ length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 ㎜ error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.
