Methods and systems for nested cannula configuration involving helical tubes (40). The nested cannula (60) includes a plurality of telescoping tubes cooperatively configured and dimensioned to reach a target location relative to an anatomical region through a set of arcs (11, 21, 41) including one or more helical arcs (41) with each arc being determined between a point associated with the anatomical region and the target location. In particular, a three-dimensional image (51) of the anatomical region is utilized to generate the series of arcs, which in turn are utilized to calculate a pathway (53) that is utilized to configure and dimension the tubes.
