Surgical planning systems that automatically identify one or a plurality of different candidate trajectories to a defined intrabody treatment region. The systems can rank the identified candidate trajectories in an order of hierarchy based on defined parameters such as distance from a critical no-go location and whether a single or multiple different candidate trajectories are needed to provide coverage of the defined intrabody treatment region. The surgical planning systems are also configured to provide a User Interface that defines a workflow for an image-guided surgical procedure and allows a user to select one or more of the identified candidate trajectories steps in the workflow.