The present invention presents an apparatus and methods to stereotactically guide insertion of invasive tubular devices to a tissue object of a living body. The apparatus comprises a powered positioning guide control assembly and a positioning guide assembly that is operably detachable from the powered positioning guide control assembly, and rotationally adjustable and lockable. The powered positioning guide control assembly encloses an ultrasound transducer to visualize and target the tissue object, and adjusts an insertion angle of an invasive tubular device placed in the positioning guide assembly.
