Breivik, who killed 77 people in 2011, has repeatedly complained about what he describes as his “torturous” detention conditions, even threatening to go on hunger strike.
Earlier in February, Lippestad told reporters that Breivik was preparing to sue the Norwegian government over his prolonged isolation.
“He now wants to have this case tried in court. It has turned out, however, that there is a huge gap between his expectations and what we find to be professionally admissible,” Lippestad told the VG newspaper.
Breivik’s thoughts on what the planned trial may revolve around are “completely different than what we believe can be the topic of such a trial,” Lippestad said.
Geir Lippestad was appointed Breivik’s defendant on July 23, 2011, the day after Breivik carried out two terrorist attacks against a government building and a youth camp in Norway's capital, Oslo.
Breivik was sentenced to 21 years in prison for the attacks – the maximum sentence allowed by Norwegian law – though his jail time may be subsequently extended, leading to actual life imprisonment.
Following the trial, Lippestad received much praise in his home country for his handling of the difficult case.
The mass murderer will now be represented by veteran attorney Oystein Storrvik, who has acted as a defendant in a number of high-profile criminal cases.