A needle is guided to a target along a pre-determined needle insertion trajectory. A method that utilizes a fluoroscope can be used to locate the target. The target can be an internal structure within the human body. A device can be used with the fluoroscope to aim and insert a needle or sharp probe along the predetermined trajectory to the target. By using the device with the fluoroscope, a user can receive real time visual confirmation of contact between the needle and the target.