Methods, systems and computer program products are provided for determining an obscured contact point based on a visible portion of an acoustic sensor of a medical device contacting a patient by acquiring a first image containing an upper surface of the acoustic sensor from a first viewpoint and a second image containing the upper surface of the acoustic sensor from a second viewpoint different from the first viewpoint. The acoustic sensor is located in the first image and the second image and the centroid of the acoustic sensor is determined based on the location of the acoustic sensor in the first image and the corresponding location of the acoustic sensor in the second image. A plane of the visible portion of the acoustic sensor is also determined based on the position of the upper surface of the acoustic sensor in the first image and the corresponding position of the upper surface of the acoustic sensor in the second image. The contact point of the obscured portion of the acoustic sensor may then be determined by projecting a predetermined depth through the centroid of the acoustic sensor in a direction having a predefined relationship with the plane of the visible portion of the acoustic sensor.