A device that uses an anatomic landmark or fiduciary point to establish a point of origin for device orientation in space is provided. The device controls the direction and depth of delivery of a needle, wire, trocar or cannula utilized for diagnostic or therapeutic intervention. The device guides the percutaneous delivery of a needle, wire, trocar or cannula to a target spatial location on or within tissue. Also disclosed is a needle (62) guiding device comprising a cylindrical sheath (64) and a cap (70) with a piston and propulsion means (72).
