This is an automated needle orientation method under fluoroscopy guidance. The physician selects the target by succesivly pointing it in two lateral views diplayed on the robot's controller screen. With the needle piont at the skin entry point, the RCM performs a series of moves to determine the allignment and finally orients the needle to the target. The physician inspects targeting and performs needle insertion from the joystick under direct fluoroscopic observation.

The method tested experimentally with 0.5 mm targeting accuracy. The method applies to the RCM and AcuBot X-Ray guided systems.