The present disclosure is directed to a planning and navigation system. The planning system includes a memory configured to store a plurality of images and a controller configured to render the plurality of images in three dimensions, automatically segment the plurality of images to demarcate a target area, and automatically determine a treatment plan based on the target area. The navigation system includes an ultrasound device having a fiducial pattern that obtains an ultrasound image, a surgical device having a image capture device that captures an image of the fiducial pattern, and a controller that receives the ultrasound image and the fiducial image. The controller determines a position of the surgical device based on the fiducial image. The planning and navigation system also includes a controller that receives data from the planning system and the navigation system and a display configured to display the received information.