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Introduction
Recent advances in medical imaging have induced a
rapid increase in minimally invasive image-guided
interventions, such as biopsy and needle-based local
therapies. The success of these procedures hinges
on the accuracy of needle placement. Conventional
unassisted freehand techniques depend primarily
on the physician’s hand-eye coordination and thus
often suffer from inaccuracy and inconsistency in
needle placement. As an appealing alternative,
medical robots offer the potential to manipulate surgical
instruments more precisely and consistently
than is possible by hand. At the same time,
however, contemporary medical robots introduce a
prohibitively complex engineering entourage into
otherwise rather straightforward needle-placement
procedures.
Manual needle placement typically includes the following
three decoupled tasks: (1) moving the needle
tip to the pre-selected entry point

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