Intersecting plane voxel indices

I have yaw, pitch, and roll readings from an inertial measurement unit and would like to use the data to calculate the corresponding plane for each reading (default position being a vertical plane). To provide some context, I am attempting to perform 3D reconsturction from ultrasound. How do I calculate the indices of the voxels intersecting the plane? Also, would it be possible to find the indices of voxels intersecting a plane of an arbitrary "thickness" (i.e. 3 voxels thick)?

[KSSV]

It is very much possible....further help is possible if pictorial example is shown.

[Shion]

This is what I am envisioning. Each image is some m-by-n frame from the ultrasound and I'd like to be able to put the slices in at their corresponding location in the volume given yaw, pitch, and roll. I've also read that quaternions are more reliable in this kind of application. I am able to gather data on either.

I should also point out that the image does not rotate around its origin but around a fixed point above it (the black dot in the figure).