Respiratory motion of the liver is a major concern when trying to precisely target liver lesions. The purpose of this study is to increase the accuracy of an image-guided system for abdominal interventions by tracking multiple needles within the liver and selecting the time stamp that provides the smallest registration error throughout the whole respiratory cycle. Phantom and swine studies have been completed. The results indicate that the method presented can increase the precision of registration compensation compared with respiratory gating and non-gating methods.