arXiv:2503.14753v3 Announce Type: replace-cross Abstract: Computed tomography (CT)-guided needle biopsies are critical for diagnosing a range of conditions, including lung cancer, but present challenges such as limited in-bore space, prolonged procedure times, and radiation exposure. Robotic assistance offers a promising solution by improving needle trajectory accuracy, reducing radiation exposure, and enabling real-time adjustments. In our previous work, we introduced a robotic platform designed for accurate needle insertion within the confined CT bore. However, its performance in clinical settings is restricted by limited dexterity and a constrained workspace. In this study, we present an 11-degree-of-freedom (DOF) robotic system that integrates a 6-DOF robotic base with an improved 5-DOF cable-driven end-effector, yielding a significantly expanded workspace and enhanced dexterity. To leverage the hyper-redundant degrees of freedom, we introduce a weighted inverse kinematics controller, along with a null-space control strategy to optimize maneuverability and dexterity. By using a task-oriented weight matrix as a hyperparameter, the system provides a two-stage priority scheme fit for both large-scale movement and fine in-bore adjustments. In clinically relevant simulated scenarios, the system demonstrates a consistent 97% reachability rate across various human models. In addition, the task-oriented weight-matrix policy is extensively explored in five representative subtasks seen during needle biopsy through both simulation and real-world experiments, demonstrating superior tracking accuracy and enhanced manipulability for CT-guided procedures.