A method includes registering a region of interest in 3-D imaging data with an initial ultrasound image so that the region of interest is in an imaging plane of the initial ultrasound image. The method further includes acquiring a subsequent ultrasound image with a transducer array. The method further includes comparing the initial ultrasound image and the subsequent ultrasound image. The method further includes steering at least one of the transducer array or an instrument based on a result of the comparing so that at least one of the region of interest or the instrument is in the imaging plane.
