Abstract: Disclosed herein are methods, devices, and systems for facilitating a practitioner in guiding an insertion of a medical instrument into soft tissue of a patient. According to one embodiment, a method implemented on a computing device includes receiving a first plurality of images from a medical imaging device and receiving a second plurality of images from an augmented reality (AR) device interface. The second plurality of images includes fiducial-based information on both the medical instrument and the medical imaging device. The method further includes (1) determining a predicted position of the medical instrument using fiducial-based localization with the fiducial-based information, (2) generating a third plurality of images illustrating the predicted position of the medical instrument within a first portion of the first plurality of images and within a first portion of the second plurality of images, and (4) transmitting the third plurality of images to the AR device interface.