The present embodiments relate generally to ultrasound imaging methods, systems, and apparatus that detect and enhance viewing of a needle during ultrasound imaging. The methods involve acquiring an ultrasound image feed having primary ultrasound image frames. During acquisition of the ultrasound image feed, secondary frames are interspersed amongst the primary ultrasound image frames, where each secondary frame is steered at a different angle. At least one secondary frame is analyzed to detect an imaged needle. Upon detection of an imaged needle in at least one secondary frame, an optimal steering angle is determined for imaging the needle, the optimal steering angle being based on the steered angle of the at least one secondary frame having the detected imaged needle. The method continues to acquire the ultrasound image feed by acquiring additional primary ultrasound image frames. During the continued acquisition of the ultrasound image feed, tertiary frames are interspersed amongst the additional primary ultrasound image frames, where each tertiary frame is steered at the optimal steering angle. The ultrasound image feed can then be displayed with enhanced viewing of the imaged needle, with the enhanced viewing being based on the interspersed tertiary frames.
