The present disclosure describes ultrasound imaging systems and methods, which may enable the automatic identification of an image plane in a pre-operative volume corresponding to a real-time image of a moving region of interest. An example method includes receiving real-time ultrasound image data from a probe associated with a position-tracking sensor, generating real-time images based on the real-time ultrasound data and deriving a motion model from the real-time ultrasound image data. The method may further include automatically identifying an image plane in a pre-operative data set to correspond to the real-time ultrasound image by correcting for motion-induced misalignment between the real-time data and the pre-operative data.