A tracking device for tracking an interventional instrument that has one or more ultrasound sensors (S1, S2, S3, S4) disposed with the interventional instrument, the tracking device comprising: an ultrasound imaging device including an ultrasound probe configured to acquire a two-dimensional ultrasound image; and an electronic processor programmed to operate the ultrasound imaging device to perform an interventional instrument tracking method being characterized by: operating the ultrasound imaging device to display a 2D ultrasound image of a visualization plane; performing 2D ultrasound sweeps of a plurality of planes that encompasses the visualization plane and, for each 2D ultrasound plane of the plurality of planes, detecting a signal emitted by each ultrasound sensor in response to the 2D ultrasound sweep of the plane; for each ultrasound sensor, identifying: an optimal plane of the plurality of planes for which the detected signal emitted by the ultrasound sensor is highest, the location of the ultrasound sensor in the optimal plane, and the location of the ultrasound sensor in a three-dimensional reference space based on the location of the ultrasound sensor in the optimal plane; and determining spatial information for the interventional instrument, including at least one of tip location and orientation of the interventional instrument, based on the identified locations of the one or more ultrasound sensors in the 3D reference space. an ultrasound imaging device including an ultrasound probe configured to acquire a two-dimensional ultrasound image; and an electronic processor programmed to operate the ultrasound imaging device to perform an interventional instrument tracking method being characterized by: operating the ultrasound imaging device to display a 2D ultrasound image of a visualization plane; performing 2D ultrasound sweeps of a plurality of planes that encompasses the visualization plane and, for each 2D ultrasound plane of the plurality of planes, detecting a signal emitted by each ultrasound sensor in response to the 2D ultrasound sweep of the plane; for each ultrasound sensor, identifying: an optimal plane of the plurality of planes for which the detected signal emitted by the ultrasound sensor is highest, the location of the ultrasound sensor in the optimal plane, and the location of the ultrasound sensor in a three-dimensional reference space based on the location of the ultrasound sensor in the optimal plane; and determining spatial information for the interventional instrument, including at least one of tip location and orientation of the interventional instrument, based on the identified locations of the one or more ultrasound sensors in the 3D reference space. operating the ultrasound imaging device to display a 2D ultrasound image of a visualization plane; performing 2D ultrasound sweeps of a plurality of planes that encompasses the visualization plane and, for each 2D ultrasound plane of the plurality of planes, detecting a signal emitted by each ultrasound sensor in response to the 2D ultrasound sweep of the plane; for each ultrasound sensor, identifying: an optimal plane of the plurality of planes for which the detected signal emitted by the ultrasound sensor is highest, the location of the ultrasound sensor in the optimal plane, and the location of the ultrasound sensor in a three-dimensional reference space based on the location of the ultrasound sensor in the optimal plane; and an optimal plane of the plurality of planes for which the detected signal emitted by the ultrasound sensor is highest, the location of the ultrasound sensor in the optimal plane, and the location of the ultrasound sensor in a three-dimensional reference space based on the location of the ultrasound sensor in the optimal plane; and determining spatial information for the interventional instrument, including at least one of tip location and orientation of the interventional instrument, based on the identified locations of the one or more ultrasound sensors in the 3D reference space.