An integrated planning system and navigation system comprising: a reference adapted to be disposed on a patient (P); an image capturing device configured to image a patient having the reference to generate CT images including the reference, wherein the image capturing device is a computed tomography (CT) imager, wherein the reference comprises a radio-opaque marker that allows the reference to be visualized by the CT imager, and wherein the planning system is configured to receive the CT images to determine a treatment plan for a target, the target being a region of tissue that is to be ablated, and the treatment plan referring to an energy level and a treatment duration to effect treatment of the target with a selected ablated needle; a surgical device , wherein the surgical device is an ablation needle; a tracking system (436; 426, 420, 422) configured to generate location data describing a location of the surgical device relative to the reference; a controller configured to receive the CT images including the reference and the location data and to calculate a spatial relationship between the CT images and the surgical device to correlate the position of the surgical device with the CT images in order to navigate the surgical device to the target for treatment; and a display configured to display the CT images and a virtual image of the surgical device based on the spatial relationship between the CT images and the surgical device and the correlated position of the surgical device with the CT images, wherein the display is further configured to display the target for treatment to allow a user to determine the position of the surgical device relative to the target by viewing the virtual surgical device on the display to navigate the surgical device to the target. a reference adapted to be disposed on a patient (P); an image capturing device configured to image a patient having the reference to generate CT images including the reference, wherein the image capturing device is a computed tomography (CT) imager, wherein the reference comprises a radio-opaque marker that allows the reference to be visualized by the CT imager, and wherein the planning system is configured to receive the CT images to determine a treatment plan for a target, the target being a region of tissue that is to be ablated, and the treatment plan referring to an energy level and a treatment duration to effect treatment of the target with a selected ablated needle; a surgical device , wherein the surgical device is an ablation needle; a tracking system (436; 426, 420, 422) configured to generate location data describing a location of the surgical device relative to the reference; a controller configured to receive the CT images including the reference and the location data and to calculate a spatial relationship between the CT images and the surgical device to correlate the position of the surgical device with the CT images in order to navigate the surgical device to the target for treatment; and a display configured to display the CT images and a virtual image of the surgical device based on the spatial relationship between the CT images and the surgical device and the correlated position of the surgical device with the CT images, wherein the display is further configured to display the target for treatment to allow a user to determine the position of the surgical device relative to the target by viewing the virtual surgical device on the display to navigate the surgical device to the target. <EOS>