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Core needle biopsy (CNB) is widely used in active surveillance, which is the current standard of care for low risk prostate cancers. A longer biopsy sample length may improve the accuracy of diagnosis. To increase the biopsy sample length, the magnetic abrasive finishing (MAF) technique was applied to decrease the needle inner friction force, which may hinder the tissue from entering the lumen of the biopsy needle. To assess the effectiveness of these MAF polished needles as compared to the unpolished needles, a method to measure the three components of axial force during hollow needle insertion—tip cutting force, inner friction force, and outer friction force—was developed. Six tissue-mimicking samples of different lengths were used to find the linear relationship between the sum of the cutting force and inner friction force and the phantom length or contact length. Linear regression method was used to …