Efficient path planning of a medical device for insertion into a patient using medical imaging is provided. An image rendered from different transfer functions is used. One transfer function provides context, such as rendering to show a skin surface or other patient anatomical system. Another transfer function indicates local vessel, fluid, or other information for selecting points along the path. The user may select the transfer function used at different locations as well as the depth of a clipping plane at the different locations to allow unambiguous selection of a path point in the three-dimensional rendering.
