Systems, apparatus, components and methods are disclosed that allow the clinician to circumvent the pubic arch in instances where it interferes with insertion of instrumentation into the prostate or periprostatic tissue. The systems, apparatus and components disclosed herein employ structures, such as needles and trocars, of shape memory alloys, such as nickel-titanium (Ni--Ti) for the purpose of avoiding the pubic arch when accessing the prostate from the perineum.