A tool positioning system adapted for use with an imagine system is provided. The tool positioning system is configured to accurately position a guide, the guide being suitable for inserting an interventional tool from an insertion point to a target point inside a patient. The s tool positioning system is configured to be docked at a pre-defined docking position along a movable patient cradle of the imaging system. The tool positioning system includes standalone device and a robotic positioner. The robotic positioner is coupled to the standalone device and configured to grip and move the guide to a desired position. The system further includes a movement sensing module coupled to the standalone device and configured to calculate movement of the patient from breathing and processing circuitry configured to determine the pre-defined docking position and the desired position.
