Robotic needle steering systems have the potential to improve medical interventions but require new methods for medical image guidance. The document proposes using 3D ultrasound with a vibrating steerable needle visible in Doppler images to provide real-time feedback for needle steering robots. Experiments show the needle can be segmented from the Doppler data to within 1-2mm, allowing a robotic system to steer a needle tip to targets in liver tissue with an average 1.57mm error, representing progress toward clinical use of robotic needle steering.