A method is provided to align a quantitative three-dimensional (Q3D) model of a three dimensional (3D) structure with a 3D visual representation of a sub-surface target object internal to the anatomical structure, the method comprising: identifying fiducial points within the external surface of the 3D structure represented in the 3D visual representation； identifying the same fiducial points within the Q3D model； aligning the identified fiducial points in the 3D visual representation with the identified fiducial points in the Q3D model； and producing a visual image representation of the 3D structure that includes a view of an external surface and a view of the internal sub-surface target structure.
