Provided are systems, devices, and methods for planning a medical procedure. An exemplary method includes receiving image data of a patient's chest, identifying the patient's lungs in the image data, determining locations of pleural surfaces of the patient's lungs in the image data, identifying a treatment target in the patient's lungs, generating a three-dimensional (3D) model of the patient's lungs based on the image data, the 3D model showing the pleural surfaces of the patient's lungs and the treatment target, determining whether the treatment target invades the pleural surfaces, displaying a view of the 3D model for viewing by a clinician, receiving input from the clinician regarding a plan for the medical procedure, and displaying the plan for the medical procedure.
