The present disclosure is directed to a planning and navigation system 300. The planning system 302,100 includes a memory 104 configured to store a plurality of images and a controller 106 configured to render the plurality of images in three dimensions, automatically segment the plurality of images to demarcate a target area, and automatically determine a treatment plan based on the target area. The navigation system 304,200 includes an ultrasound device 202 having a fiducial pattern 204 that obtains an ultrasound image, a surgical device 206 having a image capture device 206 that captures an image of the fiducial pattern, and a controller 212 that receives the ultrasound image and the fiducial image. The controller determines a position of the surgical device based on the fiducial image. The planning and navigation system also includes a controller 306 that receives data from the planning system and the navigation system and a display 308 configured to display the received information.
