This method mimics the joystick controlled superimposed needle targeting method performed by the physician. The fluoro-image is fed to the computer of the robot which automatically orients the needle using the image feedback using a fluoro-servoing algorithm.

The method was experimentally tested and compared to the joystick method. Accuracy results showed 0.8 mm automatic vs. 1.03 mm with the joystick and access times of 5.54 s vs. 10.56 s, respectively. The method applies to the RCM, and AcuBot X-Ray guided systems.