Abstract: A method and apparatus for approaching a joint. The method of approaching a joint which connects a first bone and a second bone comprises cutting an incision to the joint and inserting a guide through the incision and into the joint. Next cartilage and bone portions are removed surrounding the guide to form a passage into the joint. A system for approaching a sacroiliac joint which connects an iliac bone and a sacrum bone comprises a central processing unit and a scanner in communication with the central processing unit. The scanner is adapted to analyze the sacroiliac joint for an insertion point within the sacroiliac joint. The system further comprises a guide in communication with the central processing unit wherein the guide is adapted to be inserted substantially parallel to the iliac bone and the sacrum bone and into the insertion point. A remover is adapted to form a passage around the guide and into the insertion point.