This work describes a new concept of a 3D US image assisted clinical robot for percutaneous breast biopsy in order to improve the cancer diagnose by automated needle placement near the biopsy target that simplifies manual insertion procedure and alleviates radiologist’s fatigue. In this way, basic requirements for linking the procedures of Hand-Held Breast Ultrasound guided biopsy with an US image acquisition were first determined. Starting with a comparative analysis based on the advantages and disadvantages of image guided systems such as radiography and MRI. Which resulted in the proposal of a new clinical workflow for breast cancer diagnosis. Therefore, the robot kinematic chain was obtained by considering the woman breast as a workspace and its similarity with a 3D ABUS radial scanning. For the forward and inverse kinematic were used the screw axis based theory and a geometric-alg...