A tool navigation system employing an ultrasound probe, an ultrasound scanner, an interventional tool, a tool tracker and an image navigator. In operation, the ultrasound probe generates an acoustic image plane for scanning an anatomical region, and the ultrasound scanner generates an ultrasound image of the anatomical region from a scan of the anatomical region. During the scan, the interventional tool is navigated within the anatomical region relative to the acoustic image plane, and the tool tracker tracks a position of the interventional tool relative to the acoustic image plane. The image navigator displays a graphical icon within the ultrasound image for illustrating a tracking of the interventional tool relative to the acoustic image plane by the tool tracker. Additionally, a special attachment on the US probe with PZT type sensors can help this navigation by emitting acoustic waves off the central axis of the imaging plane.