The present disclosure is directed to a planning and navigation method. The planning and navigation method includes obtaining a plurality of images 120, rendering the plurality of images in three dimensions, automatically segmenting the plurality of images to demarcate a target area 124, and automatically determining a treatment plan based on the target area 126. The planning and navigation system also includes obtaining an ultrasound image of a scan plane "S" including the target and obtaining a fiducial image of a fiducial pattern 204 disposed on an ultrasound device 202 using an image capture device 208 on a surgical device 206. The obtained fiducial image is corrected for lens distortion 231 and a correspondence between the fiducial image and a model image is found 234, after which a pose of the surgical device connected to the image capture device is estimated 235 and transformed to model coordinates 236. Then the ultrasound image and a virtual image of the surgical device is displayed based on the model coordinates to allow a surgeon to navigate the surgical device to the target using the displayed ultrasound image and the virtual image and treating the target based on the treatment plan.
