The present invention presents an apparatus and methods to stereotactically guide insertion of invasive tubular devices to a tissue target of a living body. The apparatus comprises a positioning guide control assembly and a positioning guide assembly that is reversibly coupled with and operated by the positioning guide control assembly, and rotationally adjustable and lockable. The positioning guide control assembly releasably houses a ultrasound transducer head to visualize and aim at the tissue target and adjusts an insertion angle of an invasive tubular device placed in the positioning guide assembly.
