An apparatus for detecting a location of a tool including a tip of the tool in a volumetric region, said apparatus comprising: an image processing unit adapted to receive from an ultrasound array an ultrasound image data of the volumetric region, said image processing unit comprising: a tip tool detection module configured to - reconstruct from the ultrasound image data a first ultrasound image having a first tool shadow region, wherein the first ultrasound image corresponds to a first steering angle of an ultrasound beam with respect to a surface of the ultrasound array, and a second ultrasound image having a second tool shadow region, wherein the second ultrasound image corresponds to a second steering angle of the ultrasound beam being different from the first steering angle; - identify a differential shadow region within the volumetric region based on a relative difference between the first and the second shadow region; and determine based on the differential shadow region the location of the tip of the tool. an image processing unit adapted to receive from an ultrasound array an ultrasound image data of the volumetric region, said image processing unit comprising: a tip tool detection module configured to - reconstruct from the ultrasound image data a first ultrasound image having a first tool shadow region, wherein the first ultrasound image corresponds to a first steering angle of an ultrasound beam with respect to a surface of the ultrasound array, and a second ultrasound image having a second tool shadow region, wherein the second ultrasound image corresponds to a second steering angle of the ultrasound beam being different from the first steering angle; - identify a differential shadow region within the volumetric region based on a relative difference between the first and the second shadow region; and determine based on the differential shadow region the location of the tip of the tool. a tip tool detection module configured to - reconstruct from the ultrasound image data a first ultrasound image having a first tool shadow region, wherein the first ultrasound image corresponds to a first steering angle of an ultrasound beam with respect to a surface of the ultrasound array, and a second ultrasound image having a second tool shadow region, wherein the second ultrasound image corresponds to a second steering angle of the ultrasound beam being different from the first steering angle; - identify a differential shadow region within the volumetric region based on a relative difference between the first and the second shadow region; and determine based on the differential shadow region the location of the tip of the tool. - reconstruct from the ultrasound image data a first ultrasound image having a first tool shadow region, wherein the first ultrasound image corresponds to a first steering angle of an ultrasound beam with respect to a surface of the ultrasound array, and a second ultrasound image having a second tool shadow region, wherein the second ultrasound image corresponds to a second steering angle of the ultrasound beam being different from the first steering angle; - identify a differential shadow region within the volumetric region based on a relative difference between the first and the second shadow region; and determine based on the differential shadow region the location of the tip of the tool.