Abstract: Aspects described herein disclose devices, systems, and methods for use in contexts such as minimally invasive surgery (MIS). A device is provided herein having a proximal portion and a distal portion, and an ultrasound transducer may be disposed within the distal portion and configured to scan tissue and identify certain portions of a patent's anatomy. In some aspects, different types of bones may be identified and the information used in determining a drill trajectory. Trajectory information may be presented to an operator of the device visually, such as in a 3-D volumetric image. By scanning the tissue, identifying the anatomy, and presenting the results to an operator, unnecessary damage to elements of the patients anatomy may be avoided or lessened.