Abstract: A method for determining a trajectory of an elongated tool includes receiving positional information of a region of interest and receiving positional information of one or more structures at least partially occluding or obstructing access to the region of interest. Based on positional information of an initial target point in the region of interest, a sagittal plane passing through an imaging device and the initial target point is determined. Based on positional information of an entry point of the elongated tool, a trajectory of the elongated tool substantially along the sagittal plane for advancing the elongated tool to strike the initial target point without striking the one or more structures is determined.

Abstract: A needle guide assembly and an automated method of operating a needle guide assembly are provided. The assembly includes a needle guide body and a controller communicatively coupled to the needle guide body. The needle guide body includes at least two separable portions. The needle guide body is operable by the controller to actuate between a closed configuration and an open configuration. In the closed configuration, the at least two portions combine to define a channel therethrough for receiving a needle. In the open configuration, the at least two portions separate to release the received needle from the channel.