A biopsy system comprising: a biopsy tool (226, 900); and a control system in communication with the biopsy tool, the control system configured to: receive a command to perform a biopsy; retrieve a predefined dynamic trajectory for performing the biopsy from a memory device, wherein the predefined dynamic trajectory includes a plurality of different dynamic control modes, each of the different dynamic control modes being associated with a different phase of the biopsy, wherein the plurality of different dynamic control modes comprise: a first dynamic control mode corresponding to an insertion phase of the biopsy for inserting the biopsy tool a distance into tissue; and a second dynamic control mode corresponding to a sampling phase of the biopsy after the insertion phase, wherein a motion profile of the second dynamic control mode comprises a plurality of motion cycles each comprising an insertion and a retraction of the biopsy tool, wherein the motion profile of the second dynamic control mode includes higher velocities and higher rates of acceleration than the motion profile of the first dynamic control mode; and control the biopsy tool to move according to the predefined dynamic trajectory to perform the biopsy. a biopsy tool (226, 900); and a control system in communication with the biopsy tool, the control system configured to: receive a command to perform a biopsy; retrieve a predefined dynamic trajectory for performing the biopsy from a memory device, wherein the predefined dynamic trajectory includes a plurality of different dynamic control modes, each of the different dynamic control modes being associated with a different phase of the biopsy, wherein the plurality of different dynamic control modes comprise: a first dynamic control mode corresponding to an insertion phase of the biopsy for inserting the biopsy tool a distance into tissue; and a second dynamic control mode corresponding to a sampling phase of the biopsy after the insertion phase, wherein a motion profile of the second dynamic control mode comprises a plurality of motion cycles each comprising an insertion and a retraction of the biopsy tool, wherein the motion profile of the second dynamic control mode includes higher velocities and higher rates of acceleration than the motion profile of the first dynamic control mode; and control the biopsy tool to move according to the predefined dynamic trajectory to perform the biopsy. receive a command to perform a biopsy; retrieve a predefined dynamic trajectory for performing the biopsy from a memory device, wherein the predefined dynamic trajectory includes a plurality of different dynamic control modes, each of the different dynamic control modes being associated with a different phase of the biopsy, wherein the plurality of different dynamic control modes comprise: a first dynamic control mode corresponding to an insertion phase of the biopsy for inserting the biopsy tool a distance into tissue; and a second dynamic control mode corresponding to a sampling phase of the biopsy after the insertion phase, wherein a motion profile of the second dynamic control mode comprises a plurality of motion cycles each comprising an insertion and a retraction of the biopsy tool, wherein the motion profile of the second dynamic control mode includes higher velocities and higher rates of acceleration than the motion profile of the first dynamic control mode; and a first dynamic control mode corresponding to an insertion phase of the biopsy for inserting the biopsy tool a distance into tissue; and a second dynamic control mode corresponding to a sampling phase of the biopsy after the insertion phase, wherein a motion profile of the second dynamic control mode comprises a plurality of motion cycles each comprising an insertion and a retraction of the biopsy tool, wherein the motion profile of the second dynamic control mode includes higher velocities and higher rates of acceleration than the motion profile of the first dynamic control mode; and control the biopsy tool to move according to the predefined dynamic trajectory to perform the biopsy.