A needle biopsy system (10) includes a biopsy needle (210) , and a needle support assembly (200) . The needle support assembly (200) holds the biopsy needle (210) and manipulates the biopsy needle (210) in response to received control signals. A needle simulator having an input device generates the control signals in response to manipulation of the input device by an operator. The operator, in turn, receives feedback from the needle simulator in accordance with forces experienced by the biopsy needle (210) . In a preferred embodiment, the feedback received by the operator includes tactile sensations experienced by the operator as he manipulates the input device. The tactile sensations mimic those the operator would have received had he directly manipulated the biopsy needle (210). Optionally, a curved needle guide is employed to restrict the biopsy needle's progression longitudinally therethrough.