An MRI-guided interventional system for use with a body of patient and an interventional device includes a base and a targeting cannula. The base is configured to be secured to the body of the patient. The targeting cannula has an elongate guide bore extending axially therethrough and an inlet and an outlet at opposed ends of the guide bore. The guide bore defines a trajectory axis extending through the inlet and the outlet and being configured to guide placement of the interventional device. The frame is operable to move the targeting cannula relative to the base to position the trajectory axis to a desired intrabody trajectory to guide placement of the interventional device in vivo. The inlet tapers from an outer diameter distal from the guide bore to an inner diameter proximate the guide bore to guide and facilitate insertion of the interventional device into the guide bore.
