One or more devices, systems, methods and storage mediums for performing medical procedure (e.g., needle guidance, ablation, biopsy, etc.) planning and/or performance, and/or for performing visualization and manipulation of registration result(s), are provided. Examples of applications for such devices, systems, methods and storage mediums include imaging, evaluating and diagnosing biological objects, such as, but not limited to, lesions and tumors, and such devices, systems, methods and storage mediums may be used for radiotherapy applications (e.g., to determine whether to place seed(s) for radiotherapy). The devices, systems, methods and storage mediums provided herein provide improved registration results by providing one or more of the following: automatic multi-planar reconstruction of a device fiducial plane, automatic multi-planar reconstruction of an oblique fiducial slice and on-the-fly update(s) of template matching and registration error calculations based on user manipulation of detected fiducial locations.
