Visualization of distal end effector on biplane or triplane views using intracardiac echography (ice)

A medical system, comprising:

• a utility probe for insertion into a cavity of an organ, the utility probe comprising:
• a distal end effector fitted at a distal end of the utility probe;
• and
• a first sensor configured to output first signals indicative of first positions of the distal end effector inside the cavity;
• an ultrasound probe for insertion into an organ of a body, the ultrasound probe comprising:
• an ultrasound transducer array configured to image a volume of the organ, the volume comprising at least portion of the distal end effector;
• and
• a second sensor configured to output second signals indicative of second positions of the ultrasound transducer array inside the cavity;
• and
• a processor, which is configured to:
• using the imaged volume, the first positions, and the second positions, select one or more slices of the imaged volume that comprise at least part of the distal end effector in spatial relation with the organ;
• generate from the one or more selected slices at least one of a biplane view and triplane view of the part of the distal end effector;
• and
• present the at least one of the biplane view and triplane view to a user.