Devices, systems, and methods are disclosed for use in contexts such as minimally invasive surgery (MIS). A device having an ultrasound transducer and methods for using the device are disclosed. A patient's anatomy may be scanned by use of the device and various target anatomy located. Trajectory information which corresponds to a path free of the various target anatomy may be presented to an operator of the device. By scanning the tissue, identifying the anatomy, and presenting the results to the operator, unnecessary damage to elements of the patient's anatomy may be avoided or lessened.