An interventional therapy system , comprising: at least one catheter having proximal and distal ends and at least one tracking element, the at least one catheter being configured for insertion within an object of interest (OOI); an image acquisition portion being configured to acquire a current image of the OOI; and at least one controller : configured to obtain a reference image dataset comprising a plurality of image slices which form a three-dimensional image of the OOI; configured to automatically define and highlighted without user intervention restricted areas (RAs) within the reference image dataset where the at least one catheter should not travel; configured to determine location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset; configured to determine at least one of a position and orientation of the distal end of the at least one catheter; configured to determine a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints, and configured to capture a current image plane and to determine an estimated intersection of the catheter with the current image plane, the current image plane being an image plane to be currently viewed. at least one catheter having proximal and distal ends and at least one tracking element, the at least one catheter being configured for insertion within an object of interest (OOI); an image acquisition portion being configured to acquire a current image of the OOI; and at least one controller : configured to obtain a reference image dataset comprising a plurality of image slices which form a three-dimensional image of the OOI; configured to automatically define and highlighted without user intervention restricted areas (RAs) within the reference image dataset where the at least one catheter should not travel; configured to determine location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset; configured to determine at least one of a position and orientation of the distal end of the at least one catheter; configured to determine a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints, and configured to capture a current image plane and to determine an estimated intersection of the catheter with the current image plane, the current image plane being an image plane to be currently viewed. configured to obtain a reference image dataset comprising a plurality of image slices which form a three-dimensional image of the OOI; configured to automatically define and highlighted without user intervention restricted areas (RAs) within the reference image dataset where the at least one catheter should not travel; configured to determine location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset; configured to determine at least one of a position and orientation of the distal end of the at least one catheter; configured to determine a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints, and configured to capture a current image plane and to determine an estimated intersection of the catheter with the current image plane, the current image plane being an image plane to be currently viewed. <EOS>