Background: Diagnosis of prostate cancer requires histopathology of tissue samples. Following an MRI to identify suspicious areas, a biopsy is performed under ultrasound (US) guidance. In existing assistance systems, 3D US information is generally available (taken before the biopsy session and/or in between samplings). However, without registration between 2D images and 3D volumes, the urologist must rely on cognitive navigation. Method: This work introduces a deep learning model to track the orientation of real-time US slices relative to a reference 3D US volume using only image and volume data. The dataset comprises 515 3D US volumes collected from 51 patients during routine transperineal biopsy. To generate 2D images streams, volumes are resampled to simulate three degrees of freedom rotational movements around the rectal entrance. The proposed model comprises two ResNet-based sub-modules to address the symmetry ambiguity arising from complex out-of-plane movement of the probe. The first sub-module predicts the unsigned relative orientation between consecutive slices, while the second leverages a custom similarity model and a spatial context volume to determine the sign of this relative orientation. From the submodules predictions, slices orientations along the navigated trajectory can then be derived in real-time. Results: Results demonstrate that registration error remains below 2.5 mm in 92% of cases over a 5-second trajectory, and 80% over a 25-second trajectory. Conclusion These findings show that accurate, sensorless 2D/3D US registration given a spatial context is achievable with limited drift over extended navigation. This highlights the potential of AIdriven biopsy assistance to increase the accuracy of freehand biopsy.