A system 10 and associated method is provided for image-guided navigation during a medical procedure. The system 10 includes a movable gantry 32 having an X-ray source 12, an X-ray detector 22 and a laser 50 disposed on the detector 22 offset from the area of the detector receiving the beam from the source 12, a movable table and a system controller 24 operably connected to the gantry 32, the X-ray source 12, the X-ray detector 22, the laser 50 and the table. In the method, the controller 24 determines an optimal trajectory for the insertion of an interventional device into the body to intersect the target, positions the gantry 32 to locate the laser 50 at a point where a laser beam is emitted from the laser 50 along the optimal trajectory outside of the X-ray beam, and takes additional images during the procedure to show the position of the interventional device in the body as compared with the optimal trajectory.
