A system for tracking an instrument, comprising: an ultrasound imaging system comprising an ultrasound imaging probe having a field of view defined by a plurality of ultrasound beams; an instrument comprising two or more sensors disposed along a length of the instrument, each sensor being spaced apart from each adjacent sensor; an interpretation module configured to select and update an ultrasound image slice from a three-dimensional ultrasound image volume corresponding to the field of view in accordance with real-time positions of the two or more sensors within the field of view, the three-dimensional ultrasound image volume includes the positions of the two or more sensors with respect to a target in the volume; and an image processing module configured to generate in a display an overlay to provide feedback for positioning and orienting the instrument, the overlay indicating reference positions in the ultrasound image slice, the reference positions include the positions of the two or more sensors and relative offsets of the two or more sensors from the ultrasound image slice; and wherein the interpretation module is further configured to select the ultrasound image slice to include at least one in-plane reference position, the in-plane reference position being an in-plane sensor position, an in-plane instrument position or an in-plane biopsy/ target position; characterized in that the two or more sensors are ultrasound sensors and their positions are determined respective the field of view by analyzing ultrasound signals received by the two or more sensors as the ultrasound beams sweep the field of view. an ultrasound imaging system comprising an ultrasound imaging probe having a field of view defined by a plurality of ultrasound beams; an instrument comprising two or more sensors disposed along a length of the instrument, each sensor being spaced apart from each adjacent sensor; an interpretation module configured to select and update an ultrasound image slice from a three-dimensional ultrasound image volume corresponding to the field of view in accordance with real-time positions of the two or more sensors within the field of view, the three-dimensional ultrasound image volume includes the positions of the two or more sensors with respect to a target in the volume; and an image processing module configured to generate in a display an overlay to provide feedback for positioning and orienting the instrument, the overlay indicating reference positions in the ultrasound image slice, the reference positions include the positions of the two or more sensors and relative offsets of the two or more sensors from the ultrasound image slice; and wherein the interpretation module is further configured to select the ultrasound image slice to include at least one in-plane reference position, the in-plane reference position being an in-plane sensor position, an in-plane instrument position or an in-plane biopsy/ target position; characterized in that the two or more sensors are ultrasound sensors and their positions are determined respective the field of view by analyzing ultrasound signals received by the two or more sensors as the ultrasound beams sweep the field of view.