A method for localizing hard objects in soft tissue utilizing a computer based system includes receiving ultrasound data from an ultrasound scanner and converting on the computer based system the ultrasound data into a reflectivity image. The method also includes selecting voxels from the reflectivity image that exceed an adaptive threshold, locating disjointed voxel clusters formed by the selected voxels, and outputting to an external processor locations of the voxel clusters that form a desired shape to an external processor.
