A system, device and method include an interventional device having at least one ultrasonic transducer configured to generate a signal to indicate presence of a branch or bifurcation of a lumen inside a subject. A localization system is configured to track the interventional device in the subject. A program module is implemented by a processor to compare a position of the interventional device against a reference image and to indicate the presence of the branch or bifurcation relative to the interventional device position in accordance with the signal.