A guidance system and method to guide needle-like medical instruments for percutaneous interventions. The system and method includes an orientation localizer including at least one fiducial marker and having a localized plane. The orientation localizer is mountable at a skin entry point on a patient. A computer receives at least one axial image which includes an anatomy of the patient. The computer registers a position and orientation of the orientation localizer with the anatomy of the patient, by using coordinates of at least one axial image and coordinates of the at least one fiducial marker. The computer determines an insertion plane perpendicular to the localized plane, and outputs at least one cross sectional image on the localized plane and/or on the insertion plane to a display apparatus.
