The structure of the brain is the most complex compared to other members of the body. Hence, in order to reduce the risks for the patient, precise planning, and careful decisions are necessary before surgical procedures are performed on this member. The surgical navigation system may be used in tasks such as tumor sampling, viewing the sensitive and critical structure of the brain, and tumor removal. This system provides the surgeon with the access to the precise location of targeted point or points in the brain. The frameless stereotactic systems, also called neuronavigation or navigation systems, has been currently become more common in advanced neurology centers in the world. The frameless systems have several advantages over frame-based ones. They occupy far less space in the operating room and require significantly shorter anesthesia time. In addition, frameless systems are associated with fewer complications than frame-based systems. They also have other distinct advantages, including cost reduction, greater operative safety, and shorter surgical time. The frameless systems work based on infrared navigation, and recognize pre-specified points on the patient’s face, and the markers attached to the device. The created manual sampler, mounted above the patient’s head, functions like a stereotactic frame to locate, precisely, a certain point during brain surgery, and remove a tumor by drilling holes through the skull. It can also be used for ear, nose, throat surgeries, and implant placement. Biopsy device carries out sample withdrawal by being placed in the desired location. Disclosed herein is an instrument which facilitates the biopsy procedure using 3D imaging and surgical navigation systems, without requiring installment of frames taken by the surgeon. The instrument benefits from a high degree of freedom (DOF) and is controlled by the surgeon via the joints and their implemented arms. It can be installed on the side of the surgical table for the convenience of the patient and the surgeon by providing ease of access and preventing disturbances to the patient. Although the instrument can also be mounted on the patient’s head, it is not recommended as it can cause inconveniences to the patient.