A method and ultrasound imaging system for image-guided procedures includes collecting first position data of an anatomical surface with a 3D position sensor. The method and ultrasound imaging system includes generating a 3D graphical model of the anatomical surface based on the first position data. The method and ultrasound imaging system includes acquiring ultrasound data with a probe in position relative to the anatomical surface. The method and ultrasound imaging system includes using the 3D position sensor to collect second position data of the probe in the position relative to the anatomical surface. The method and ultrasound imaging system includes generating an image based on the ultrasound data and identifying a structure in the image. The method and ultrasound imaging system includes registering the location of the structure to the 3D graphical model based on the first position data and the second position data. The method and ultrasound imaging system includes displaying a representation of the 3D graphical model including a graphical indicator of the structure.
