Certain embodiments of the present invention provide a system (100,700) for facilitating surgery including: a tracking subsystem (706,100,700) for tracking a position of at least a portion of a surgical implement (704,910) in a volume of interest (702) a feedback subsystem capable of providing feedback based on a correspondence between the position of at least a portion of the surgical implement (704,910) and a surgical plan (906, 908). In an embodiment, the feedback is provided in real-time. In an embodiment, the feedback includes at least one of: haptic feedback, thermal feedback, optical feedback, and auditory feedback. In an embodiment, the surgical plan (906,908) includes a previously generated radiological image. In an embodiment, the surgical plan (906, 908) includes at least one trajectory (906) for at least a portion of the surgical implement (704,910).
