How do I register a cylindrical model in a 3d image?

I want to start off by saying I have no idea where to begin and don't expect specific answers. I'm looking for suggestions on what to look for to achieve what I want to do.

Let me explain the general idea of what I want to achieve: There's going to be a cylindrical object injected into some material. I'm trying to locate the object with an ultrasound image of the material. With the ultrasound, there are going to be many slices/2D images stacked on top of each other to get a 3D image of the area. What I want to do is create a cylindrical model of the object (the specifications of the object is known) that I can register in the 3D ultrasound image to know the exact location of the object in the material.

So far, I've been looking into object detection and image registration but I don't think that is the solution. Can anyone help me think through this idea and lead me to resources that can help me achieve this?