Methods, systems, and devices for assisting or performing an image-guided prostate procedure are disclosed. A needle assembly includes a needle guide, a needle device, a position sensor and additional features. The position sensor allows for the tracking of the needle assembly. A method for performing image-guided prostate procedures includes pre-operative procedures and intra-operative procedures. The pre-operative procedures include imaging studies to model the prostate and identify targets. The pre-operative procedures models are used during a prostate procedure to track the target and the devices used for the procedure. A system for performing image-guided procedures includes the needle assembly and other components.