With the advent of novel immunotherapies and our better understanding of the genetic traits of underlying tumors the demand for tissue diagnosis to identify a specific target for treatment is constantly rising [1]. Percutaneous biopsies performed with image guidance are still a mainstay in solid organ and peripheral lung lesions. The requirement to target smaller and smaller lesion has increased the complexity of these procedures. The success of a needle-based procedure in Interventional Radiology is based on the precise placement of a device on the target using a trajectory that is not harmful to the patient. Targets, especially those located off plane, are difficult to reach and often require a trial and error approach with needle repositioning even in the hands of an experienced operator [2]. The integration of robotics into such image-guided procedures has the potential to increase precision and thus outcomes [3], [4], [5], [6], [7], [8], [9], [10].