A system for tracking a medical instrument coupled to a medical device, comprising: a medical device for insertion into a body comprising: a channel for receiving and transporting a medical instrument through the medical device, the channel extending to a distal portion of the medical device and in communication with an opening in the medical device that is not aligned with a central axis of the device and which is aligned with a tool insertion axis; a tracking component that includes a plurality of coordinated electromagnetic sensors (220, 224) in the form of a plurality of coils of an electromagnetic material that are positioned relative to each other in such a manner as to generate a virtual axis of travel for a medical instrument that passes through the opening of the device and is aligned with the tool insertion axis, wherein the virtual axis is a vector-sum of individual sensitivities of the plurality of coils, wherein the plurality of coordinated electromagnetic sensors comprises a first coil and a second coil, the first coil being in concentric arrangement with the central axis of the medical device, the second coil being in orthogonal arrangement to the first coil, wherein the first and second coil are electrically connected in series; a tracking system configured to track the plurality of electromagnetic sensors to determine a virtual axis position of the generated virtual axis of travel in a tracking space; and a sensor module configured to map the tracking space. a medical device for insertion into a body comprising: a channel for receiving and transporting a medical instrument through the medical device, the channel extending to a distal portion of the medical device and in communication with an opening in the medical device that is not aligned with a central axis of the device and which is aligned with a tool insertion axis; a tracking component that includes a plurality of coordinated electromagnetic sensors (220, 224) in the form of a plurality of coils of an electromagnetic material that are positioned relative to each other in such a manner as to generate a virtual axis of travel for a medical instrument that passes through the opening of the device and is aligned with the tool insertion axis, wherein the virtual axis is a vector-sum of individual sensitivities of the plurality of coils, a channel for receiving and transporting a medical instrument through the medical device, the channel extending to a distal portion of the medical device and in communication with an opening in the medical device that is not aligned with a central axis of the device and which is aligned with a tool insertion axis; a tracking component that includes a plurality of coordinated electromagnetic sensors (220, 224) in the form of a plurality of coils of an electromagnetic material that are positioned relative to each other in such a manner as to generate a virtual axis of travel for a medical instrument that passes through the opening of the device and is aligned with the tool insertion axis, wherein the virtual axis is a vector-sum of individual sensitivities of the plurality of coils, wherein the plurality of coordinated electromagnetic sensors comprises a first coil and a second coil, the first coil being in concentric arrangement with the central axis of the medical device, the second coil being in orthogonal arrangement to the first coil, wherein the first and second coil are electrically connected in series; a tracking system configured to track the plurality of electromagnetic sensors to determine a virtual axis position of the generated virtual axis of travel in a tracking space; and a sensor module configured to map the tracking space.