A tracking system (300) for a target anatomy of a patient (305) can include a first marker (10) having a size and shape for insertion into the patient to reach the target anatomy where the first marker has a first electromagnetic (EM) sensor (50) and an imageable region (90), a plurality of second markers (310) having a size and shape for adhesion to the patient in proximity to the target anatomy where the second markers each have a second EM sensor and are imageable, a field generator (340) adapted for applying a magnetic field to the target anatomy and inducing a current in the first and second sensors, and a processor (11, 320) having a controller adapted to determine positions of the first and second markers based on the induced currents. Fig. 2
