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 powered positioning guide control assembly and a positioning guide assembly that is coupled with and operated by the powered positioning guide control assembly, and rotationally adjustable and lockable. The powered positioning guide control assembly encloses an ultrasound transducer to visualize and aim at the tissue target, and adjusts an insertion angle of an invasive tubular device placed in the positioning guide assembly.
